ctrl_lib::CartesianForceController Class Reference

#include <CartesianForceController.hpp>

Inheritance diagram for ctrl_lib::CartesianForceController:

Public Member Functions
	CartesianForceController (std::string const &name="ctrl_lib::CartesianForceController")
	CartesianForceController (std::string const &name, RTT::ExecutionEngine *engine)
	~CartesianForceController ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual bool	readFeedback ()
virtual bool	readSetpoint ()
virtual void	updateController ()
virtual const base::VectorXd &	computeActivation (wbc::ActivationFunction &activation_function)
bool	isValid (const base::Wrench &w)
const base::VectorXd	wrenchToRaw (const base::samples::Wrench &wrench, base::VectorXd &raw)

Protected Attributes
base::samples::Wrench	setpoint
base::samples::Wrench	feedback
base::samples::Wrenches	feedback_wrenches
std::string	ft_sensor_name
base::VectorXd	setpoint_raw
base::VectorXd	feedback_raw
base::VectorXd	ctrl_output_raw
base::samples::RigidBodyStateSE3	control_output
wbc::CartesianForcePIDController *	controller

Friends
class	CartesianForceControllerBase

Detailed Description

a force controller in Cartesian space. See wbc/controllers/ProportionalController.hpp for details

Constructor & Destructor Documentation

CartesianForceController() [1/2]

CartesianForceController::CartesianForceController

(

std::string const &

name = "ctrl_lib::CartesianForceController"

)

CartesianForceController() [2/2]

CartesianForceController::CartesianForceController	(	std::string const &	name,
		RTT::ExecutionEngine *	engine )

~CartesianForceController()

ctrl_lib::CartesianForceController::~CartesianForceController ( )

inline

Member Function Documentation

cleanupHook()

void CartesianForceController::cleanupHook

(

)

computeActivation()

const base::VectorXd & CartesianForceController::computeActivation ( wbc::ActivationFunction & activation_function )

protectedvirtual

Compute Activation function

configureHook()

bool CartesianForceController::configureHook

(

)

errorHook()

void CartesianForceController::errorHook

(

)

isValid()

bool ctrl_lib::CartesianForceController::isValid ( const base::Wrench & w )

inlineprotected

readFeedback()

bool CartesianForceController::readFeedback ( )

protectedvirtual

Read all feedback values of the controller. Return false if there is no feedback, true otherwise

readSetpoint()

bool CartesianForceController::readSetpoint ( )

protectedvirtual

Read all setpoints of the controller. Return false if there is no setpoint, true otherwise

startHook()

bool CartesianForceController::startHook

(

)

stopHook()

void CartesianForceController::stopHook

(

)

updateController()

void CartesianForceController::updateController ( )

protectedvirtual

Compute output of the controller

updateHook()

void CartesianForceController::updateHook

(

)

wrenchToRaw()

const base::VectorXd ctrl_lib::CartesianForceController::wrenchToRaw ( const base::samples::Wrench & wrench, base::VectorXd & raw )

inlineprotected

Friends And Related Symbol Documentation

CartesianForceControllerBase

friend class CartesianForceControllerBase

friend

Member Data Documentation

control_output

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianForceController::control_output

protected

controller

wbc::CartesianForcePIDController* ctrl_lib::CartesianForceController::controller

protected

ctrl_output_raw

base::VectorXd ctrl_lib::CartesianForceController::ctrl_output_raw

protected

feedback

base::samples::Wrench ctrl_lib::CartesianForceController::feedback

protected

feedback_raw

base::VectorXd ctrl_lib::CartesianForceController::feedback_raw

protected

feedback_wrenches

base::samples::Wrenches ctrl_lib::CartesianForceController::feedback_wrenches

protected

ft_sensor_name

std::string ctrl_lib::CartesianForceController::ft_sensor_name

protected

setpoint

base::samples::Wrench ctrl_lib::CartesianForceController::setpoint

protected

setpoint_raw

base::VectorXd ctrl_lib::CartesianForceController::setpoint_raw

protected

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

• tasks/CartesianForceController.hpp
• tasks/CartesianForceController.cpp