A concrete controller class specifically for controlling 6 degree of freedom Cartesian twist with a combination of impedance controllers. The linear velocity is controlled with the Dissipative controller class, while the angular velocity is controlled with the VelocityImpedance class. More...

#include <CompliantTwist.hpp>

Inheritance diagram for controllers::impedance::CompliantTwist:

Public Member Functions
	CompliantTwist (const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters)
	Constructor from an initial parameter list.

	CompliantTwist (double linear_principle_damping, double linear_orthogonal_damping, double angular_stiffness, double angular_damping)
	Constructor taking gain parameters as arguments.

state_representation::CartesianState	compute_command (const state_representation::CartesianState &desired_state, const state_representation::CartesianState &feedback_state) override
	Compute the force (task space) or torque (joint space) command based on the input state of the system as the error between the desired state and the real state.

Public Member Functions inherited from controllers::IController< state_representation::CartesianState >
	IController ()=default
	Empty constructor.

virtual	~IController ()=default
	Empty destructor.

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

state_representation::JointState	compute_command (const state_representation::CartesianState &command_state, const state_representation::CartesianState &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 Member Functions
void	validate_and_set_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter) override
	Validate and set parameters for controller gains.

void	set_linear_principle_damping (double linear_principle_damping)
	Setter of the linear principle damping.

void	set_linear_orthogonal_damping (double linear_orthogonal_damping)
	Setter of the linear orthogonal damping.

void	set_linear_gains (double linear_principle_damping, double linear_orthogonal_damping)
	Setter of the linear damping values.

void	set_angular_stiffness (double angular_stiffness)
	Setter of the angular stiffness.

void	set_angular_damping (double angular_damping)
	Setter of the angular damping.

void	set_angular_gains (double angular_stiffness, double angular_damping)
	Setter of the angular damping.

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.

Protected Attributes
std::shared_ptr< state_representation::Parameter< double > >	linear_principle_damping_
	damping along principle eigenvector of linear velocity error

std::shared_ptr< state_representation::Parameter< double > >	linear_orthogonal_damping_
	damping along secondary eigenvectors of linear velocity error

std::shared_ptr< state_representation::Parameter< double > >	angular_stiffness_
	stiffness of angular displacement

std::shared_ptr< state_representation::Parameter< double > >	angular_damping_
	damping of angular velocity error

Dissipative< state_representation::CartesianState >	dissipative_ctrl_
	controller for linear space

VelocityImpedance< state_representation::CartesianState >	velocity_impedance_ctrl_
	controller for angular space

Protected Attributes inherited from controllers::IController< state_representation::CartesianState >
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

Detailed Description

A concrete controller class specifically for controlling 6 degree of freedom Cartesian twist with a combination of impedance controllers. The linear velocity is controlled with the Dissipative controller class, while the angular velocity is controlled with the VelocityImpedance class.

Definition at line 17 of file CompliantTwist.hpp.

Constructor & Destructor Documentation

◆ CompliantTwist() [1/2]

controllers::impedance::CompliantTwist::CompliantTwist ( const std::list< std::shared_ptr< state_representation::ParameterInterface > > & parameters )

explicit

Constructor from an initial parameter list.

Parameters

parameters A parameter list containing initial gain values

Definition at line 28 of file CompliantTwist.cpp.

◆ CompliantTwist() [2/2]

controllers::impedance::CompliantTwist::CompliantTwist	(	double	linear_principle_damping,
		double	linear_orthogonal_damping,
		double	angular_stiffness,
		double	angular_damping
	)

Constructor taking gain parameters as arguments.

Parameters

linear_principle_damping	damping along principle eigenvector of linear velocity error
linear_orthogonal_damping	damping along secondary eigenvectors of linear velocity error
angular_stiffness	stiffness of angular displacement
angular_damping	damping of angular velocity error

Definition at line 9 of file CompliantTwist.cpp.

Member Function Documentation

◆ compute_command()

CartesianState controllers::impedance::CompliantTwist::compute_command	(	const state_representation::CartesianState &	desired_state,
		const state_representation::CartesianState &	feedback_state
	)

overridevirtual

Compute the force (task space) or torque (joint space) command based on the input state of the system as the error between the desired state and the real state.

Parameters

desired_state	the desired state to reach
feedback_state	the real state of the system as read from feedback loop

Returns: the output command at the input state

Implements controllers::IController< state_representation::CartesianState >.

Definition at line 71 of file CompliantTwist.cpp.

◆ set_angular_damping()

void controllers::impedance::CompliantTwist::set_angular_damping ( double angular_damping )

protected

Setter of the angular damping.

Parameters

the	new damping value

Definition at line 55 of file CompliantTwist.cpp.

◆ set_angular_gains()

void controllers::impedance::CompliantTwist::set_angular_gains	(	double	angular_stiffness,
		double	angular_damping
	)

protected

Setter of the angular damping.

Parameters

angular_stiffness	the new angular stiffness value
angular_damping	the new angular damping value

Definition at line 59 of file CompliantTwist.cpp.

◆ set_angular_stiffness()

void controllers::impedance::CompliantTwist::set_angular_stiffness ( double angular_stiffness )

protected

Setter of the angular stiffness.

Parameters

the	new stiffness value

Definition at line 51 of file CompliantTwist.cpp.

◆ set_linear_gains()

void controllers::impedance::CompliantTwist::set_linear_gains	(	double	linear_principle_damping,
		double	linear_orthogonal_damping
	)

protected

Setter of the linear damping values.

Parameters

linear_principle_damping	the new principle damping value
linear_orthogonal_damping	the new orthogonal damping value

Definition at line 42 of file CompliantTwist.cpp.

◆ set_linear_orthogonal_damping()

void controllers::impedance::CompliantTwist::set_linear_orthogonal_damping ( double linear_orthogonal_damping )

protected

Setter of the linear orthogonal damping.

Parameters

the	new orthogonal damping value

Definition at line 38 of file CompliantTwist.cpp.

◆ set_linear_principle_damping()

void controllers::impedance::CompliantTwist::set_linear_principle_damping ( double linear_principle_damping )

protected

Setter of the linear principle damping.

Parameters

the	new principle damping value

Definition at line 34 of file CompliantTwist.cpp.

◆ validate_and_set_parameter()

void controllers::impedance::CompliantTwist::validate_and_set_parameter ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

overrideprotected

Validate and set parameters for controller gains.

Parameters

parameter A parameter interface pointer

Definition at line 79 of file CompliantTwist.cpp.

Member Data Documentation

◆ angular_damping_

std::shared_ptr<state_representation::Parameter<double> > controllers::impedance::CompliantTwist::angular_damping_

protected

damping of angular velocity error

Definition at line 104 of file CompliantTwist.hpp.

◆ angular_stiffness_

std::shared_ptr<state_representation::Parameter<double> > controllers::impedance::CompliantTwist::angular_stiffness_

protected

stiffness of angular displacement

Definition at line 103 of file CompliantTwist.hpp.

◆ dissipative_ctrl_

Dissipative<state_representation::CartesianState> controllers::impedance::CompliantTwist::dissipative_ctrl_

protected

controller for linear space

Definition at line 106 of file CompliantTwist.hpp.

◆ linear_orthogonal_damping_

std::shared_ptr<state_representation::Parameter<double> > controllers::impedance::CompliantTwist::linear_orthogonal_damping_

protected

damping along secondary eigenvectors of linear velocity error

Definition at line 102 of file CompliantTwist.hpp.

◆ linear_principle_damping_

std::shared_ptr<state_representation::Parameter<double> > controllers::impedance::CompliantTwist::linear_principle_damping_

protected

damping along principle eigenvector of linear velocity error

Definition at line 100 of file CompliantTwist.hpp.

◆ velocity_impedance_ctrl_

VelocityImpedance<state_representation::CartesianState> controllers::impedance::CompliantTwist::velocity_impedance_ctrl_

protected

controller for angular space

Definition at line 107 of file CompliantTwist.hpp.

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

/github/workspace/source/controllers/include/controllers/impedance/CompliantTwist.hpp
/github/workspace/source/controllers/src/impedance/CompliantTwist.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CompliantTwist() [1/2]

◆ CompliantTwist() [2/2]

Member Function Documentation

◆ compute_command()

◆ set_angular_damping()

◆ set_angular_gains()

◆ set_angular_stiffness()

◆ set_linear_gains()

◆ set_linear_orthogonal_damping()

◆ set_linear_principle_damping()

◆ validate_and_set_parameter()

Member Data Documentation

◆ angular_damping_

◆ angular_stiffness_

◆ dissipative_ctrl_

◆ linear_orthogonal_damping_

◆ linear_principle_damping_

◆ velocity_impedance_ctrl_