#include <sot/torque_control/admittance-controller.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | AdmittanceController (const std::string &name) |
DECLARE_SIGNAL_IN (controlledJoints, dynamicgraph::Vector) | |
6d estimated force filtered More... | |
DECLARE_SIGNAL_IN (damping, dynamicgraph::Vector) | |
mask with 1 for controlled joints, 0 otherwise More... | |
DECLARE_SIGNAL_IN (encoders, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (fLeftFoot, dynamicgraph::Vector) | |
6d estimated force More... | |
DECLARE_SIGNAL_IN (fLeftFootFiltered, dynamicgraph::Vector) | |
6d estimated force filtered More... | |
DECLARE_SIGNAL_IN (fLeftFootRef, dynamicgraph::Vector) | |
6d reference force More... | |
DECLARE_SIGNAL_IN (force_integral_deadzone, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (force_integral_saturation, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (fRightFoot, dynamicgraph::Vector) | |
6d reference force More... | |
DECLARE_SIGNAL_IN (fRightFootFiltered, dynamicgraph::Vector) | |
6d estimated force More... | |
DECLARE_SIGNAL_IN (fRightFootRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (jointsVelocities, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (ki_force, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (ki_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_force, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (kp_vel, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (dqDes, dynamicgraph::Vector) | |
control More... | |
DECLARE_SIGNAL_OUT (u, dynamicgraph::Vector) | |
damping factors used for the 4 end-effectors More... | |
DECLARE_SIGNAL_OUT (vDesLeftFoot, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (vDesRightFoot, dynamicgraph::Vector) | |
dqDes = J^+ * Kf * (fRef-f) More... | |
virtual void | display (std::ostream &os) const |
void | init (const double &dt, const std::string &robotRef) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
Protected Types | |
typedef pinocchio::Data::Matrix6x | Matrix6x |
previous value of encoders More... | |
Protected Attributes | |
pinocchio::Data * | m_data |
tsid::math::Vector | m_dq_des_urdf |
tsid::math::Vector | m_dq_fd |
integral of the velocity error More... | |
tsid::math::Vector | m_dqErrIntegral |
double | m_dt |
if true it uses the Jacobian transpose rather than the pseudoinverse More... | |
tsid::math::Vector6 | m_f_LF |
desired 6d wrench right foot More... | |
tsid::math::Vector6 | m_f_RF |
bool | m_firstIter |
control (i.e. motor currents) More... | |
int | m_frame_id_lf |
frame id of right foot More... | |
int | m_frame_id_rf |
robot geometric/inertial data More... | |
bool | m_initSucceeded |
Matrix6x | m_J_LF |
Eigen::ColPivHouseholderQR< Matrix6x > | m_J_LF_QR |
Matrix6x | m_J_RF |
Eigen::ColPivHouseholderQR< Matrix6x > | m_J_RF_QR |
int | m_nj |
control loop time period More... | |
tsid::math::Vector | m_q_urdf |
desired 6d wrench left foot More... | |
tsid::math::Vector | m_qPrev |
joint velocities computed with finite differences More... | |
tsid::robots::RobotWrapper * | m_robot |
frame id of left foot More... | |
RobotUtilShrPtr | m_robot_util |
Eigen::VectorXd | m_u |
bool | m_useJacobianTranspose |
true if the entity has been successfully initialized More... | |
tsid::math::Vector6 | m_v_LF_int |
tsid::math::Vector6 | m_v_RF_int |
tsid::math::Vector | m_v_urdf |
Definition at line 46 of file admittance-controller.hh.
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protected |
previous value of encoders
Definition at line 124 of file admittance-controller.hh.
AdmittanceController | ( | const std::string & | name | ) |
Definition at line 54 of file admittance-controller.cpp.
References AdmittanceController::init(), INPUT_SIGNALS, AdmittanceController::m_useJacobianTranspose, AdmittanceController::m_v_LF_int, AdmittanceController::m_v_RF_int, and OUTPUT_SIGNALS.
DECLARE_SIGNAL_IN | ( | controlledJoints | , |
dynamicgraph::Vector | |||
) |
6d estimated force filtered
DECLARE_SIGNAL_IN | ( | damping | , |
dynamicgraph::Vector | |||
) |
mask with 1 for controlled joints, 0 otherwise
DECLARE_SIGNAL_IN | ( | encoders | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | fLeftFoot | , |
dynamicgraph::Vector | |||
) |
6d estimated force
DECLARE_SIGNAL_IN | ( | fLeftFootFiltered | , |
dynamicgraph::Vector | |||
) |
6d estimated force filtered
DECLARE_SIGNAL_IN | ( | fLeftFootRef | , |
dynamicgraph::Vector | |||
) |
6d reference force
DECLARE_SIGNAL_IN | ( | force_integral_deadzone | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | force_integral_saturation | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | fRightFoot | , |
dynamicgraph::Vector | |||
) |
6d reference force
DECLARE_SIGNAL_IN | ( | fRightFootFiltered | , |
dynamicgraph::Vector | |||
) |
6d estimated force
DECLARE_SIGNAL_IN | ( | fRightFootRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | jointsVelocities | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | ki_force | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | ki_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_force | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | kp_vel | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | dqDes | , |
dynamicgraph::Vector | |||
) |
control
DECLARE_SIGNAL_OUT | ( | u | , |
dynamicgraph::Vector | |||
) |
damping factors used for the 4 end-effectors
DECLARE_SIGNAL_OUT | ( | vDesLeftFoot | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | vDesRightFoot | , |
dynamicgraph::Vector | |||
) |
dqDes = J^+ * Kf * (fRef-f)
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virtual |
Definition at line 366 of file admittance-controller.cpp.
void init | ( | const double & | dt, |
const std::string & | robotRef | ||
) |
Definition at line 110 of file admittance-controller.cpp.
References AdmittanceController::m_data, AdmittanceController::m_dq_des_urdf, AdmittanceController::m_dqErrIntegral, AdmittanceController::m_dt, AdmittanceController::m_frame_id_lf, AdmittanceController::m_frame_id_rf, AdmittanceController::m_initSucceeded, AdmittanceController::m_J_LF, AdmittanceController::m_J_RF, AdmittanceController::m_nj, AdmittanceController::m_q_urdf, AdmittanceController::m_robot, AdmittanceController::m_robot_util, AdmittanceController::m_u, and AdmittanceController::m_v_urdf.
Referenced by AdmittanceController::AdmittanceController().
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Definition at line 93 of file admittance-controller.hh.
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protected |
Definition at line 111 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 118 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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integral of the velocity error
Definition at line 121 of file admittance-controller.hh.
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Definition at line 119 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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if true it uses the Jacobian transpose rather than the pseudoinverse
Definition at line 102 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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desired 6d wrench right foot
Definition at line 114 of file admittance-controller.hh.
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Definition at line 113 of file admittance-controller.hh.
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control (i.e. motor currents)
Definition at line 99 of file admittance-controller.hh.
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frame id of right foot
Definition at line 107 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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robot geometric/inertial data
Definition at line 106 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 100 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 126 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 128 of file admittance-controller.hh.
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Definition at line 125 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 127 of file admittance-controller.hh.
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control loop time period
Definition at line 103 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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desired 6d wrench left foot
Definition at line 115 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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joint velocities computed with finite differences
Definition at line 122 of file admittance-controller.hh.
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frame id of left foot
tsid
Definition at line 110 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 132 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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Definition at line 98 of file admittance-controller.hh.
Referenced by AdmittanceController::init().
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true if the entity has been successfully initialized
Definition at line 101 of file admittance-controller.hh.
Referenced by AdmittanceController::AdmittanceController().
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Definition at line 130 of file admittance-controller.hh.
Referenced by AdmittanceController::AdmittanceController().
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Definition at line 129 of file admittance-controller.hh.
Referenced by AdmittanceController::AdmittanceController().
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Definition at line 116 of file admittance-controller.hh.
Referenced by AdmittanceController::init().