sot-talos-balance  1.5.0
AdmittanceControllerEndEffector Class Reference

Admittance controller for an upper body end-effector (right or left wrist) More...

#include <sot/talos_balance/admittance-controller-end-effector.hh>

Inheritance diagram for AdmittanceControllerEndEffector:
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Collaboration diagram for AdmittanceControllerEndEffector:
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Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW AdmittanceControllerEndEffector (const std::string &name)
 
 DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
 Gain (6d) for the integration of the error on the force. More...
 
 DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector)
 Derivative gain (6d) for the error on the force. More...
 
 DECLARE_SIGNAL_IN (dqSaturation, dynamicgraph::Vector)
 Value of the saturation to apply on the velocity output. More...
 
 DECLARE_SIGNAL_IN (force, dynamicgraph::Vector)
 6d force given by the sensor in its local frame More...
 
 DECLARE_SIGNAL_IN (w_forceDes, dynamicgraph::Vector)
 6d desired force of the end-effector in the world frame More...
 
 DECLARE_SIGNAL_IN (q, dynamicgraph::Vector)
 Current joint configuration of the robot. More...
 
 DECLARE_SIGNAL_INNER (w_force, dynamicgraph::Vector)
 6d force given by the sensor in the world frame More...
 
 DECLARE_SIGNAL_INNER (w_dq, dynamicgraph::Vector)
 Internal intergration computed in the world frame. More...
 
 DECLARE_SIGNAL_OUT (dq, dynamicgraph::Vector)
 Velocity reference for the end-effector in the local frame. More...
 
virtual void display (std::ostream &os) const
 
void init (const double &dt, const std::string &sensorFrameName, const std::string &endeffectorName)
 Initialize the entity. More...
 
void resetDq ()
 Reset the velocity. More...
 

Protected Attributes

pinocchio::Data * m_data
 Pinocchio robot data. More...
 
double m_dt
 Time step of the control. More...
 
pinocchio::JointIndex m_endEffectorId
 Id of the joint of the end-effector. More...
 
bool m_initSucceeded
 True if the entity has been successfully initialized. More...
 
double m_mass
 
pinocchio::Model m_model
 Pinocchio robot model. More...
 
int m_n
 Dimension of the force signals and of the output. More...
 
RobotUtilShrPtr m_robot_util
 Robot Util instance to get the sensor frame. More...
 
pinocchio::FrameIndex m_sensorFrameId
 Id of the force sensor frame. More...
 
dynamicgraph::Vector m_w_dq
 Internal state. More...
 

Detailed Description

Admittance controller for an upper body end-effector (right or left wrist)

This entity computes a velocity reference for an end-effector based on the force error in the world frame : w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)

Definition at line 65 of file admittance-controller-end-effector.hh.

Constructor & Destructor Documentation

◆ AdmittanceControllerEndEffector()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/6]

DECLARE_SIGNAL_IN ( Kp  ,
dynamicgraph::Vector   
)

Gain (6d) for the integration of the error on the force.

◆ DECLARE_SIGNAL_IN() [2/6]

DECLARE_SIGNAL_IN ( Kd  ,
dynamicgraph::Vector   
)

Derivative gain (6d) for the error on the force.

◆ DECLARE_SIGNAL_IN() [3/6]

DECLARE_SIGNAL_IN ( dqSaturation  ,
dynamicgraph::Vector   
)

Value of the saturation to apply on the velocity output.

◆ DECLARE_SIGNAL_IN() [4/6]

DECLARE_SIGNAL_IN ( force  ,
dynamicgraph::Vector   
)

6d force given by the sensor in its local frame

◆ DECLARE_SIGNAL_IN() [5/6]

DECLARE_SIGNAL_IN ( w_forceDes  ,
dynamicgraph::Vector   
)

6d desired force of the end-effector in the world frame

◆ DECLARE_SIGNAL_IN() [6/6]

DECLARE_SIGNAL_IN ( ,
dynamicgraph::Vector   
)

Current joint configuration of the robot.

◆ DECLARE_SIGNAL_INNER() [1/2]

DECLARE_SIGNAL_INNER ( w_force  ,
dynamicgraph::Vector   
)

6d force given by the sensor in the world frame

◆ DECLARE_SIGNAL_INNER() [2/2]

DECLARE_SIGNAL_INNER ( w_dq  ,
dynamicgraph::Vector   
)

Internal intergration computed in the world frame.

◆ DECLARE_SIGNAL_OUT()

DECLARE_SIGNAL_OUT ( dq  ,
dynamicgraph::Vector   
)

Velocity reference for the end-effector in the local frame.

◆ display()

void display ( std::ostream &  os) const
virtual

Definition at line 244 of file admittance-controller-end-effector.cpp.

◆ init()

void init ( const double &  dt,
const std::string &  sensorFrameName,
const std::string &  endeffectorName 
)

◆ resetDq()

Member Data Documentation

◆ m_data

◆ m_dt

double m_dt
protected

◆ m_endEffectorId

pinocchio::JointIndex m_endEffectorId
protected

◆ m_initSucceeded

bool m_initSucceeded
protected

◆ m_mass

double m_mass
protected

Definition at line 128 of file admittance-controller-end-effector.hh.

◆ m_model

pinocchio::Model m_model
protected

◆ m_n

◆ m_robot_util

RobotUtilShrPtr m_robot_util
protected

Robot Util instance to get the sensor frame.

Definition at line 131 of file admittance-controller-end-effector.hh.

Referenced by AdmittanceControllerEndEffector::init().

◆ m_sensorFrameId

pinocchio::FrameIndex m_sensorFrameId
protected

◆ m_w_dq


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