orwell::JointImpedanceController< dof > Class Template Reference

defines an impedance control law in joint space More...

#include <JointImpedanceController.hpp>

Inheritance diagram for orwell::JointImpedanceController< dof >:

Public Member Functions
	JointImpedanceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters
Eigen::Vector< double, dof >	computeCommand ()
	computes the control command for the impedance control law in joint space
Public Member Functions inherited from orwell::ReferenceController< Reference, DerivedController >
	ReferenceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
void	setReference (const Reference &reference)
	set Reference
const Reference &	getReference () const
	provide access to the Reference to derived classes

Additional Inherited Members
Public Types inherited from orwell::ReferenceController< Reference, DerivedController >
using	Ptr = std::shared_ptr<ReferenceController>
	typedef

Detailed Description

template<int dof>
class orwell::JointImpedanceController< dof >

defines an impedance control law in joint space

takes a joint position as control reference

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 35 of file JointImpedanceController.hpp.

Constructor & Destructor Documentation

JointImpedanceController()

template<int dof>

orwell::JointImpedanceController< dof >::JointImpedanceController	(	const sackmesser::Interface::Ptr &	interface,
		const std::string &	name )

loads configuration parameters

Parameters

interface	interfaces the configuration server
name	parameter namespace

Definition at line 28 of file JointImpedanceController.hxx.

      : TorqueReferenceController<dof, Eigen::Vector<double, dof>>(interface, name)
    {
        config_ = interface->getConfigurations()->load<Configuration>(name);
    }

Member Function Documentation

computeCommand()

template<int dof>

Eigen::Vector< double, dof > orwell::JointImpedanceController< dof >::computeCommand

(

)

computes the control command for the impedance control law in joint space

Returns

joint torque command

Definition at line 57 of file JointImpedanceController.hxx.

    {
        Eigen::Vector<double, dof> torque = Eigen::Vector<double, dof>::Zero();
 
        Eigen::Vector<double, dof> position_error = limit(this->getReference() - this->getRobotState().getPosition());
 
        torque = config_.stiffness_ * position_error + config_.damping_ * (-this->getRobotState().getVelocity());
 
        return torque;
    }

References orwell::ReferenceController< Reference, DerivedController >::getReference().

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The documentation for this class was generated from the following files:

• JointImpedanceController.hpp
• JointImpedanceController.hxx