Abstract class to define a controller in a desired state type, such as joint or Cartesian spaces. More...

#include <IController.hpp>

Inheritance diagram for controllers::IController< S >:

Public Member Functions
	IController ()=default
	Empty constructor.

virtual	~IController ()=default
	Empty destructor.

virtual S	compute_command (const S &command_state, const S &feedback_state)=0
	Compute the command output based on the commanded state and a feedback state To be redefined based on the actual controller implementation.

state_representation::JointState	compute_command (const S &command_state, const S &feedback_state, const state_representation::Jacobian &jacobian)
	Compute the command output in joint space.

state_representation::JointState	compute_command (const S &command_state, const S &feedback_state, const state_representation::JointPositions &joint_positions, const std::string &frame="")
	Compute the command output in joint space from command and feedback states in task space.

const robot_model::Model &	get_robot_model ()
	Get the robot model associated with the controller.

void	set_robot_model (const robot_model::Model &robot_model)
	Set the robot model associated with the controller.

Public Member Functions inherited from state_representation::ParameterMap
	ParameterMap ()=default
	Empty constructor.

	ParameterMap (const ParameterInterfaceList &parameters)
	Construct the parameter map with an initial list of parameters.

	ParameterMap (const ParameterInterfaceMap &parameters)
	Construct the parameter map with an initial map of parameters.

std::shared_ptr< ParameterInterface >	get_parameter (const std::string &name) const
	Get a parameter by its name.

ParameterInterfaceMap	get_parameters () const
	Get a map of all the <name, parameter> pairs.

template<typename T >
T	get_parameter_value (const std::string &name) const
	Get a parameter value by its name.

ParameterInterfaceList	get_parameter_list () const
	Get a list of all the parameters.

void	set_parameter (const std::shared_ptr< ParameterInterface > &parameter)
	Set a parameter.

void	set_parameters (const ParameterInterfaceList &parameters)
	Set parameters from a list of parameters.

void	set_parameters (const ParameterInterfaceMap &parameters)
	Set parameters from a map with <name, parameter> pairs.

template<typename T >
void	set_parameter_value (const std::string &name, const T &value)
	Set a parameter value by its name.

void	remove_parameter (const std::string &name)
	Remove a parameter from the parameter map.

Protected Attributes
std::shared_ptr< robot_model::Model >	robot_model_
	The robot model associated with the controller.

Protected Attributes inherited from state_representation::ParameterMap
ParameterInterfaceMap	parameters_
	map of parameters by name

Additional Inherited Members
Protected Member Functions inherited from state_representation::ParameterMap
virtual void	validate_and_set_parameter (const std::shared_ptr< ParameterInterface > &parameter)
	Validate and set a parameter in the map.

void	assert_parameter_valid (const std::shared_ptr< ParameterInterface > &parameter)
	Check if a parameter exists and has the expected type, throw an exception otherwise.

Detailed Description

template<class S>
class controllers::IController< S >

Abstract class to define a controller in a desired state type, such as joint or Cartesian spaces.

Template Parameters

S	The state type of the controller

Definition at line 26 of file IController.hpp.

Member Function Documentation

◆ compute_command() [1/3]

template<class S >

virtual S controllers::IController< S >::compute_command	(	const S &	command_state,
		const S &	feedback_state
	)

pure virtual

Compute the command output based on the commanded state and a feedback state To be redefined based on the actual controller implementation.

Parameters

command_state	The input state to the controller
feedback_state	The current state of the system given as feedback

Returns: The output command in the same state space as the input

Implemented in controllers::impedance::Dissipative< S >, controllers::impedance::Impedance< S >, controllers::impedance::VelocityImpedance< S >, controllers::impedance::Dissipative< state_representation::CartesianState >, controllers::impedance::Impedance< state_representation::CartesianState >, controllers::impedance::CompliantTwist, and controllers::impedance::VelocityImpedance< state_representation::CartesianState >.

◆ compute_command() [2/3]

template<class S >

JointState IController::compute_command	(	const S &	command_state,
		const S &	feedback_state,
		const state_representation::Jacobian &	jacobian
	)

Compute the command output in joint space.

Parameters

command_state	The input state to the controller
feedback_state	The current state of the system given as feedback
jacobian	The Jacobian matrix relating Cartesian forces to joint space

Returns: The output command in joint space

Definition at line 10 of file IController.cpp.

◆ compute_command() [3/3]

template<class S >

JointState IController::compute_command	(	const S &	command_state,
		const S &	feedback_state,
		const state_representation::JointPositions &	joint_positions,
		const std::string &	frame = `""`
	)

Compute the command output in joint space from command and feedback states in task space.

This method requires the controller to have an associated robot model to compute the Jacobian.

Parameters

command_state	The input state to the controller
feedback_state	The current state of the system given as feedback
joint_positions	The current joint positions, which are required for computing the Jacobian
frame	The name of the robot frame at which to compute the Jacobian

Returns: The output command in joint space

Definition at line 16 of file IController.cpp.

◆ get_robot_model()

template<class S >

const robot_model::Model & IController::get_robot_model ( )

Get the robot model associated with the controller.

Returns: The robot model

Definition at line 89 of file IController.hpp.

◆ set_robot_model()

template<class S >

void IController::set_robot_model ( const robot_model::Model & robot_model )

Set the robot model associated with the controller.

Parameters

robot_model The robot model

Definition at line 97 of file IController.hpp.

Member Data Documentation

◆ robot_model_

template<class S >

std::shared_ptr<robot_model::Model> controllers::IController< S >::robot_model_

protected

The robot model associated with the controller.

Definition at line 85 of file IController.hpp.

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

/github/workspace/source/controllers/include/controllers/IController.hpp
/github/workspace/source/controllers/src/IController.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ compute_command() [1/3]

◆ compute_command() [2/3]

◆ compute_command() [3/3]

◆ get_robot_model()

◆ set_robot_model()

Member Data Documentation

◆ robot_model_