#include <sot/torque_control/admittance-controller.hh>

Inheritance diagram for AdmittanceController:

Collaboration diagram for AdmittanceController:

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

Detailed Description

Definition at line 46 of file admittance-controller.hh.

Member Typedef Documentation

◆ Matrix6x

typedef pinocchio::Data::Matrix6x Matrix6x

protected

previous value of encoders

Definition at line 124 of file admittance-controller.hh.

Constructor & Destructor Documentation

◆ AdmittanceController()

AdmittanceController ( const std::string & name )

Definition at line 54 of file admittance-controller.cpp.

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/16]

DECLARE_SIGNAL_IN	(	controlledJoints	,
		dynamicgraph::Vector
	)

6d estimated force filtered

◆ DECLARE_SIGNAL_IN() [2/16]

DECLARE_SIGNAL_IN	(	damping	,
		dynamicgraph::Vector
	)

mask with 1 for controlled joints, 0 otherwise

◆ DECLARE_SIGNAL_IN() [3/16]

DECLARE_SIGNAL_IN	(	encoders	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [4/16]

DECLARE_SIGNAL_IN	(	fLeftFoot	,
		dynamicgraph::Vector
	)

6d estimated force

◆ DECLARE_SIGNAL_IN() [5/16]

DECLARE_SIGNAL_IN	(	fLeftFootFiltered	,
		dynamicgraph::Vector
	)

6d estimated force filtered

◆ DECLARE_SIGNAL_IN() [6/16]

DECLARE_SIGNAL_IN	(	fLeftFootRef	,
		dynamicgraph::Vector
	)

6d reference force

◆ DECLARE_SIGNAL_IN() [7/16]

DECLARE_SIGNAL_IN	(	force_integral_deadzone	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [8/16]

DECLARE_SIGNAL_IN	(	force_integral_saturation	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [9/16]

DECLARE_SIGNAL_IN	(	fRightFoot	,
		dynamicgraph::Vector
	)

6d reference force

◆ DECLARE_SIGNAL_IN() [10/16]

DECLARE_SIGNAL_IN	(	fRightFootFiltered	,
		dynamicgraph::Vector
	)

6d estimated force

◆ DECLARE_SIGNAL_IN() [11/16]

DECLARE_SIGNAL_IN	(	fRightFootRef	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [12/16]

DECLARE_SIGNAL_IN	(	jointsVelocities	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [13/16]

DECLARE_SIGNAL_IN	(	ki_force	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [14/16]

DECLARE_SIGNAL_IN	(	ki_vel	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [15/16]

DECLARE_SIGNAL_IN	(	kp_force	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_IN() [16/16]

DECLARE_SIGNAL_IN	(	kp_vel	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [1/4]

DECLARE_SIGNAL_OUT	(	dqDes	,
		dynamicgraph::Vector
	)

control

◆ DECLARE_SIGNAL_OUT() [2/4]

DECLARE_SIGNAL_OUT	(	u	,
		dynamicgraph::Vector
	)

damping factors used for the 4 end-effectors

◆ DECLARE_SIGNAL_OUT() [3/4]

DECLARE_SIGNAL_OUT	(	vDesLeftFoot	,
		dynamicgraph::Vector
	)

◆ DECLARE_SIGNAL_OUT() [4/4]

DECLARE_SIGNAL_OUT	(	vDesRightFoot	,
		dynamicgraph::Vector
	)

dqDes = J^+ * Kf * (fRef-f)

◆ display()

void display ( std::ostream & os ) const

virtual

Definition at line 366 of file admittance-controller.cpp.

◆ init()

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

Definition at line 110 of file admittance-controller.cpp.

◆ sendMsg()

void sendMsg	(	const std::string &	msg,
		MsgType	t = `MSG_TYPE_INFO`,
		const char *	= `""`,
		int	= `0`
	)

inline

Definition at line 93 of file admittance-controller.hh.

Member Data Documentation

◆ m_data

pinocchio::Data* m_data

protected

Definition at line 111 of file admittance-controller.hh.

◆ m_dq_des_urdf

tsid::math::Vector m_dq_des_urdf

protected

Definition at line 118 of file admittance-controller.hh.

◆ m_dq_fd

tsid::math::Vector m_dq_fd

protected

integral of the velocity error

Definition at line 121 of file admittance-controller.hh.

◆ m_dqErrIntegral

tsid::math::Vector m_dqErrIntegral

protected

Definition at line 119 of file admittance-controller.hh.

◆ m_dt

double m_dt

protected

if true it uses the Jacobian transpose rather than the pseudoinverse

Definition at line 102 of file admittance-controller.hh.

◆ m_f_LF

tsid::math::Vector6 m_f_LF

protected

desired 6d wrench right foot

Definition at line 114 of file admittance-controller.hh.

◆ m_f_RF

tsid::math::Vector6 m_f_RF

protected

Definition at line 113 of file admittance-controller.hh.

◆ m_firstIter

bool m_firstIter

protected

control (i.e. motor currents)

Definition at line 99 of file admittance-controller.hh.

◆ m_frame_id_lf

int m_frame_id_lf

protected

frame id of right foot

Definition at line 107 of file admittance-controller.hh.

◆ m_frame_id_rf

int m_frame_id_rf

protected

robot geometric/inertial data

Definition at line 106 of file admittance-controller.hh.

◆ m_initSucceeded

bool m_initSucceeded

protected

Definition at line 100 of file admittance-controller.hh.

◆ m_J_LF

Matrix6x m_J_LF

protected

Definition at line 126 of file admittance-controller.hh.

◆ m_J_LF_QR

Eigen::ColPivHouseholderQR<Matrix6x> m_J_LF_QR

protected

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

◆ m_J_RF

Matrix6x m_J_RF

protected

Definition at line 125 of file admittance-controller.hh.

◆ m_J_RF_QR

Eigen::ColPivHouseholderQR<Matrix6x> m_J_RF_QR

protected

Definition at line 127 of file admittance-controller.hh.

◆ m_nj

int m_nj

protected

control loop time period

Definition at line 103 of file admittance-controller.hh.

◆ m_q_urdf

tsid::math::Vector m_q_urdf

protected

desired 6d wrench left foot

Definition at line 115 of file admittance-controller.hh.

◆ m_qPrev

tsid::math::Vector m_qPrev

protected

joint velocities computed with finite differences

Definition at line 122 of file admittance-controller.hh.

◆ m_robot

tsid::robots::RobotWrapper* m_robot

protected

frame id of left foot

tsid

Definition at line 110 of file admittance-controller.hh.

◆ m_robot_util

RobotUtilShrPtr m_robot_util

protected

Definition at line 132 of file admittance-controller.hh.

◆ m_u

Eigen::VectorXd m_u

protected

Definition at line 98 of file admittance-controller.hh.

◆ m_useJacobianTranspose

bool m_useJacobianTranspose

protected

true if the entity has been successfully initialized

Definition at line 101 of file admittance-controller.hh.

◆ m_v_LF_int

tsid::math::Vector6 m_v_LF_int

protected

Definition at line 130 of file admittance-controller.hh.

◆ m_v_RF_int

tsid::math::Vector6 m_v_RF_int

protected

Definition at line 129 of file admittance-controller.hh.

◆ m_v_urdf

tsid::math::Vector m_v_urdf

protected

Definition at line 116 of file admittance-controller.hh.

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

include/sot/torque_control/admittance-controller.hh
src/admittance-controller.cpp

Public Member Functions

Protected Types

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ Matrix6x

Constructor & Destructor Documentation

◆ AdmittanceController()

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/16]

◆ DECLARE_SIGNAL_IN() [2/16]

◆ DECLARE_SIGNAL_IN() [3/16]

◆ DECLARE_SIGNAL_IN() [4/16]

◆ DECLARE_SIGNAL_IN() [5/16]

◆ DECLARE_SIGNAL_IN() [6/16]

◆ DECLARE_SIGNAL_IN() [7/16]

◆ DECLARE_SIGNAL_IN() [8/16]

◆ DECLARE_SIGNAL_IN() [9/16]

◆ DECLARE_SIGNAL_IN() [10/16]

◆ DECLARE_SIGNAL_IN() [11/16]

◆ DECLARE_SIGNAL_IN() [12/16]

◆ DECLARE_SIGNAL_IN() [13/16]

◆ DECLARE_SIGNAL_IN() [14/16]

◆ DECLARE_SIGNAL_IN() [15/16]

◆ DECLARE_SIGNAL_IN() [16/16]

◆ DECLARE_SIGNAL_OUT() [1/4]

◆ DECLARE_SIGNAL_OUT() [2/4]

◆ DECLARE_SIGNAL_OUT() [3/4]

◆ DECLARE_SIGNAL_OUT() [4/4]

◆ display()

◆ init()

◆ sendMsg()

Member Data Documentation

◆ m_data

◆ m_dq_des_urdf

◆ m_dq_fd

◆ m_dqErrIntegral

◆ m_dt

◆ m_f_LF

◆ m_f_RF

◆ m_firstIter

◆ m_frame_id_lf

◆ m_frame_id_rf

◆ m_initSucceeded

◆ m_J_LF

◆ m_J_LF_QR

◆ m_J_RF

◆ m_J_RF_QR

◆ m_nj

◆ m_q_urdf

◆ m_qPrev

◆ m_robot

◆ m_robot_util

◆ m_u

◆ m_useJacobianTranspose

◆ m_v_LF_int

◆ m_v_RF_int

◆ m_v_urdf