AchdController Struct Reference

Public Member Functions
	AchdController (const mj_kdl::Robot &r, double gravity_z)
void	new_phase ()
const KDL::Frame &	measure ()
bool	control (mj_kdl::Robot &out, const KDL::Frame &target, const KDL::Twist &target_twist)

Public Attributes
const mj_kdl::Robot &	robot
unsigned	n
KDL::ChainFkSolverPos_recursive	fk_pos
KDL::ChainFkSolverVel_recursive	fk_vel
KDL::ChainHdSolver_Vereshchagin	achd
KDL::ChainIdSolver_RNE	rnea
KDL::JntArray	q
KDL::JntArray	qdot
KDL::JntArray	qddot
KDL::JntArray	ff_tau
KDL::JntArray	constraint_tau
KDL::JntArray	tau
KDL::JntArray	beta
KDL::Jacobian	alpha
KDL::Wrenches	f_ext
KDL::Wrenches	f_zero
KDL::Frame	tcp
std::array< double, 6 >	err_i {}
std::array< double, 6 >	err_prev {}
bool	first = true

Detailed Description

Definition at line 76 of file ex_achd_pick_place.cpp.

Constructor & Destructor Documentation

AchdController()

AchdController::AchdController ( const mj_kdl::Robot & r, double gravity_z )

inlineexplicit

Definition at line 78 of file ex_achd_pick_place.cpp.

References achd, alpha, beta, constraint_tau, f_ext, f_zero, ff_tau, fk_pos, fk_vel, n, q, qddot, qdot, rnea, robot, and tau.

Member Function Documentation

control()

bool AchdController::control ( mj_kdl::Robot & out, const KDL::Frame & target, const KDL::Twist & target_twist )

inline

Definition at line 104 of file ex_achd_pick_place.cpp.

References achd, alpha, beta, mj_kdl_examples::clamp_abs(), constraint_tau, KDL::FrameVel::deriv(), KDL::diff(), err_i, err_prev, f_ext, f_zero, ff_tau, first, fk_vel, mj_kdl::RobotPorts::jnt_trq_cmd, n, q, qddot, qdot, rnea, robot, KDL::Twist::rot, KDL::SetToZero(), tau, tcp, KDL::Twist::vel, KDL::Vector::x(), KDL::Vector::y(), and KDL::Vector::z().

Referenced by main().

measure()

const KDL::Frame & AchdController::measure ( )

inline

Definition at line 96 of file ex_achd_pick_place.cpp.

References fk_pos, q, qdot, mj_kdl_examples::read_q(), robot, and tcp.

Referenced by main().

new_phase()

void AchdController::new_phase ( )

inline

Definition at line 89 of file ex_achd_pick_place.cpp.

References err_i, and first.

Referenced by main().

Member Data Documentation

achd

KDL::ChainHdSolver_Vereshchagin AchdController::achd

Definition at line 141 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

alpha

KDL::Jacobian AchdController::alpha

Definition at line 144 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

beta

KDL::JntArray AchdController::beta

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

constraint_tau

KDL::JntArray AchdController::constraint_tau

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

err_i

std::array<double, 6> AchdController::err_i {}

Definition at line 147 of file ex_achd_pick_place.cpp.

Referenced by control(), and new_phase().

err_prev

std::array<double, 6> AchdController::err_prev {}

Definition at line 147 of file ex_achd_pick_place.cpp.

Referenced by control().

f_ext

KDL::Wrenches AchdController::f_ext

Definition at line 145 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), control(), and main().

f_zero

KDL::Wrenches AchdController::f_zero

Definition at line 145 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

ff_tau

KDL::JntArray AchdController::ff_tau

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

first

bool AchdController::first = true

Definition at line 148 of file ex_achd_pick_place.cpp.

Referenced by control(), and new_phase().

fk_pos

KDL::ChainFkSolverPos_recursive AchdController::fk_pos

Definition at line 139 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), main(), and measure().

fk_vel

KDL::ChainFkSolverVel_recursive AchdController::fk_vel

Definition at line 140 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

n

unsigned AchdController::n

Definition at line 138 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

q

KDL::JntArray AchdController::q

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), control(), main(), and measure().

qddot

KDL::JntArray AchdController::qddot

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

qdot

KDL::JntArray AchdController::qdot

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), control(), and measure().

rnea

KDL::ChainIdSolver_RNE AchdController::rnea

Definition at line 142 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

robot

const mj_kdl::Robot& AchdController::robot

Definition at line 137 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), control(), and measure().

tau

KDL::JntArray AchdController::tau

Definition at line 143 of file ex_achd_pick_place.cpp.

Referenced by AchdController(), and control().

tcp

KDL::Frame AchdController::tcp

Definition at line 146 of file ex_achd_pick_place.cpp.

Referenced by control(), and measure().

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The documentation for this struct was generated from the following file:

• src/examples/ex_achd_pick_place.cpp