admittance_ft_common.hpp File Reference

#include "mj_kdl_wrapper/mj_kdl_wrapper.hpp"
#include "example_paths.hpp"
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainhdsolver_vereshchagin_fixed_joint.hpp>
#include <kdl/chainidsolver_recursive_newton_euler.hpp>
#include <kdl/chainiksolvervel_wdls.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <algorithm>
#include <array>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <memory>
#include <string>
#include <vector>

Go to the source code of this file.

Classes
struct	admittance_ft::AdmState
struct	admittance_ft::SceneHandles
class	admittance_ft::Controller
struct	admittance_ft::Metrics

Namespaces
namespace	admittance_ft

Functions
double	admittance_ft::clamp (double v, double lo, double hi)
KDL::JntArray	admittance_ft::home_q (unsigned n)
KDL::Vector	admittance_ft::vclamp (const KDL::Vector &v, double limit)
double	admittance_ft::norm3 (const KDL::Vector &v)
KDL::Rotation	admittance_ft::mj_xmat_to_kdl_rot (const double *m)
KDL::Frame	admittance_ft::site_frame_by_id (const mjModel *model, const mjData *data, int id)
KDL::Frame	admittance_ft::current_tcp (KDL::ChainFkSolverPos_recursive &fk, const mj_kdl::Robot &robot)
KDL::Vector	admittance_ft::spiral_force (double t)
void	admittance_ft::admittance_update (AdmState &s, const KDL::Vector &force, double dt)
void	admittance_ft::set_body_wrench (mjModel *model, mjData *data, const char *body, const KDL::Vector &force)
void	admittance_ft::close_gripper (mjModel *model, mjData *data)
KDL::Vector	admittance_ft::tare_force (const mj_kdl::Robot &robot)
KDL::Vector	admittance_ft::measured_force (const mj_kdl::Robot &robot, const AdmState &s)
bool	admittance_ft::build_scene (SceneHandles &h)
KDL::Frame	admittance_ft::admittance_step (mj_kdl::Robot &robot, Controller &ctrl, AdmState &state, const KDL::Frame &nominal, const KDL::Vector &force, double dt)
void	admittance_ft::settle_and_tare (SceneHandles &h, Controller &ctrl, AdmState &state)
Metrics	admittance_ft::run_selfcheck (SceneHandles &h, Controller &ctrl, AdmState &state, const KDL::Frame &nominal)
int	admittance_ft::finish_headless (const Metrics &m)
void	admittance_ft::run_gui (SceneHandles &h, Controller &ctrl, AdmState &state, const KDL::Frame &nominal)
int	admittance_ft::run (int argc, char **argv, std::unique_ptr< Controller >(*make_controller)(SceneHandles &))