phynt component

Ports

state (in)

Data structure

struct ::or_pose_estimator::state state
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::pos_cov > pos_cov
  - double cov[6]
- optional< struct ::or::t3d::att_cov > att_cov
  - double cov[10]
- optional< struct ::or::t3d::att_pos_cov > att_pos_cov
  - double cov[12]
- optional< struct ::or::t3d::vel_cov > vel_cov
  - double cov[6]
- optional< struct ::or::t3d::avel_cov > avel_cov
  - double cov[6]
- optional< struct ::or::t3d::acc_cov > acc_cov
  - double cov[6]
- optional< struct ::or::t3d::aacc_cov > aacc_cov
  - double cov[6]

wrench_measure (in)

Data structure

struct ::or_wrench_estimator::state wrench_measure
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::rb3d::force > force
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::force_cov > force_cov
  - double cov[6]
- optional< struct ::or::rb3d::torque > torque
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::torque_cov > torque_cov
  - double cov[6]

reference (in)

Data structure

struct ::or_rigid_body::state reference
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

desired (out)

Data structure

struct ::or_rigid_body::state desired
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

external_wrench (out)

Data structure

struct ::or_wrench_estimator::state external_wrench
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::rb3d::force > force
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::force_cov > force_cov
  - double cov[6]
- optional< struct ::or::rb3d::torque > torque
  - double x
  - double y
  - double z
- optional< struct ::or::rb3d::torque_cov > torque_cov
  - double cov[6]

Services

set_mass (attribute)

Inputs

double mass

set_geom (attribute)

Inputs

double J[9] Inertia matrix

set_af_parameters (attribute)

Inputs

double mass Apparent mass
double B[6] Apparent damping
double K[6] Apparent sprinf stiffness
double J[9] Apparent inertia matrix

set_af_wrench (attribute)

Inputs

struct ::or::rb3d::force force
- double x
- double y
- double z
struct ::or::rb3d::torque torque
- double x
- double y
- double z

set_wo_gains (attribute)

Inputs

double K[6] Wrench observer gains

get_body_parameters (attribute)

Outputs

struct ::phynt::ids::body_s body
- double J[9]
- double mass

get_reference (attribute)

Outputs

struct ::or_rigid_body::state reference
- struct ::or::time::ts ts
  - unsigned long sec
  - unsigned long nsec
- boolean intrinsic
- optional< struct ::or::t3d::pos > pos
  - double x
  - double y
  - double z
- optional< struct ::or::t3d::att > att
  - double qw
  - double qx
  - double qy
  - double qz
- optional< struct ::or::t3d::vel > vel
  - double vx
  - double vy
  - double vz
- optional< struct ::or::t3d::avel > avel
  - double wx
  - double wy
  - double wz
- optional< struct ::or::t3d::acc > acc
  - double ax
  - double ay
  - double az
- optional< struct ::or::t3d::aacc > aacc
  - double awx
  - double awy
  - double awz
- optional< struct ::or::t3d::jerk > jerk
  - double jx
  - double jy
  - double jz
- optional< struct ::or::t3d::snap > snap
  - double sx
  - double sy
  - double sz

get_wo_parameters (attribute)

Outputs

struct ::phynt::ids::wo_s wo
- double K[6]
- double bias[6]

get_af_parameters (attribute)

Outputs

struct ::phynt::ids::af_s af
- boolean enable
- double mass
- double B[6]
- double K[6]
- double J[9]
- struct ::or::rb3d::force force
  - double x
  - double y
  - double z
- struct ::or::rb3d::torque torque
  - double x
  - double y
  - double z

servo (activity)

Throws

exception ::phynt::e_input

Context

In task main (frequency 1000.0 Hz)
Reads port reference (in)

Track a desired position

set_state (function)

Inputs

struct ::or::t3d::pos pos: Position
- double x
- double y
- double z
struct ::or::t3d::att att: Orientation
- double qw
- double qx
- double qy
- double qz
struct ::or::t3d::vel vel: Linear velocity
- double vx
- double vy
- double vz
struct ::or::t3d::avel avel: Angular velocity
- double wx
- double wy
- double wz
struct ::or::t3d::acc acc: Acceleration
- double ax
- double ay
- double az
struct ::or::t3d::aacc aacc: Angular acceleration
- double awx
- double awy
- double awz
struct ::or::t3d::jerk jerk: Linear jerk
- double jx
- double jy
- double jz
struct ::or::t3d::snap snap: Linear snap
- double sx
- double sy
- double sz

Context

Interrupts servo (activity)

Set the desired state

set_position (function)

Inputs

double x
double y
double z
double yaw

Context

Interrupts servo (activity)

Set the desired position

set_current_position (activity)

Throws

exception ::phynt::e_input

Context

In task main (frequency 1000.0 Hz)
Reads port state (in)
Interrupts servo (activity)

Set the desired position

stop (function)

Context

Interrupts servo (activity)

Stop tracking a desired position

log (function)

Inputs

string<64> path (default "/tmp/phynt.log") Log file name
unsigned long decimation (default "1") Reduced logging frequency

Throws

exception ::phynt::e_sys
- short code
- string<128> what

Log controller data

log_stop (function)

Stop logging

log_info (function)

Outputs

unsigned long miss Missed log entries
unsigned long total Total log entries

Show missed log entries

Tasks

main

Context

Frequency 1000.0 Hz
Reads port state (in)
Reads port wrench_measure (in)
Updates port desired (out)
Updates port external_wrench (out)