Definition of a dissipative impedance controller (PassiveDS) in task space. More...

#include <Dissipative.hpp>

Inheritance diagram for controllers::impedance::Dissipative< S >:

Public Member Functions
	Dissipative (const ComputationalSpaceType &computational_space, unsigned int dimensions=6)
	Base constructor.

	Dissipative (const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters, const ComputationalSpaceType &computational_space, unsigned int dimensions=6)
	Constructor from an initial parameter list.

S	compute_command (const S &command_state, const S &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::impedance::Impedance< S >
	Impedance (unsigned int dimensions=6)
	Base constructor.

	Impedance (const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters, unsigned int dimensions=6)
	Constructor from an initial parameter list.

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

CartesianState	compute_command (const CartesianState &command_state, const CartesianState &feedback_state)

JointState	compute_command (const JointState &command_state, const JointState &feedback_state)

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

virtual	~IController ()=default
	Empty destructor.

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 Member Functions
void	validate_and_set_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter) override
	Validate and set parameter for damping eigenvalues.

Eigen::MatrixXd	compute_orthonormal_basis (const S &desired_velocity)
	Compute the orthonormal basis based on the desired velocity input.

void	compute_damping (const S &desired_velocity)
	Compute the damping matrix as the orthonormal basis to the direction of the desired velocity.

Eigen::MatrixXd	compute_orthonormal_basis (const CartesianState &desired_velocity)

Eigen::MatrixXd	compute_orthonormal_basis (const JointState &desired_velocity)

Protected Member Functions inherited from controllers::impedance::Impedance< S >
void	clamp_force (Eigen::VectorXd &force)

void	validate_and_set_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter) override
	Validate and set parameters for damping, stiffness and inertia gain matrices.

Eigen::MatrixXd	gain_matrix_from_parameter (const std::shared_ptr< state_representation::ParameterInterface > &parameter)
	Convert a parameterized gain to a gain matrix.

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.

Static Protected Member Functions
static Eigen::MatrixXd	orthonormalize_basis (const Eigen::MatrixXd &basis, const Eigen::VectorXd &main_eigenvector)
	Orthornormalize the basis matrix given in input wrt the main engenvector.

Protected Attributes
std::shared_ptr< state_representation::Parameter< Eigen::VectorXd > >	damping_eigenvalues_
	coefficient of eigenvalues used in the damping matrix computation

const ComputationalSpaceType	computational_space_
	the space in which to compute the command vector

Eigen::MatrixXd	basis_
	basis matrix used to compute the damping matrix

Protected Attributes inherited from controllers::impedance::Impedance< S >
std::shared_ptr< state_representation::Parameter< Eigen::MatrixXd > >	stiffness_
	stiffness matrix of the controller associated to position

std::shared_ptr< state_representation::Parameter< Eigen::MatrixXd > >	damping_
	damping matrix of the controller associated to velocity

std::shared_ptr< state_representation::Parameter< Eigen::MatrixXd > >	inertia_
	inertia matrix of the controller associated to acceleration

std::shared_ptr< state_representation::Parameter< bool > >	feed_forward_force_
	flag to decide if force error should be passed on

std::shared_ptr< state_representation::Parameter< Eigen::VectorXd > >	force_limit_
	vector of force limits for each degree of freedom

const unsigned int	dimensions_
	dimensionality of the control space and associated gain matrices

Protected Attributes inherited from controllers::IController< S >
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

template<class S>
class controllers::impedance::Dissipative< S >

Definition of a dissipative impedance controller (PassiveDS) in task space.

Definition at line 28 of file Dissipative.hpp.

Constructor & Destructor Documentation

◆ Dissipative() [1/2]

template<class S >

controllers::impedance::Dissipative< S >::Dissipative	(	const ComputationalSpaceType &	computational_space,
		unsigned int	dimensions = `6`
	)

explicit

Base constructor.

Parameters

computational_space	The computational space type
dimensions	The number of dimensions

Definition at line 102 of file Dissipative.hpp.

◆ Dissipative() [2/2]

template<class S >

controllers::impedance::Dissipative< S >::Dissipative	(	const std::list< std::shared_ptr< state_representation::ParameterInterface > > &	parameters,
		const ComputationalSpaceType &	computational_space,
		unsigned int	dimensions = `6`
	)

explicit

Constructor from an initial parameter list.

Parameters

parameters	A parameter list containing the initial parameters
computational_space	The computational space type
dimensions	The number of dimensions

Definition at line 119 of file Dissipative.hpp.

Member Function Documentation

◆ compute_command()

template<class S >

S controllers::impedance::Dissipative< S >::compute_command	(	const S &	command_state,
		const S &	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

command_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< S >.

Definition at line 153 of file Dissipative.hpp.

◆ compute_damping()

template<class S >

void controllers::impedance::Dissipative< S >::compute_damping ( const S & desired_velocity )

protected

Compute the damping matrix as the orthonormal basis to the direction of the desired velocity.

Parameters

desired_velocity the velocity from which the direction of motion is extracted to compute the basis

Definition at line 163 of file Dissipative.hpp.

◆ compute_orthonormal_basis() [1/3]

Eigen::MatrixXd controllers::impedance::Dissipative< CartesianState >::compute_orthonormal_basis ( const CartesianState & desired_velocity )

protected

Definition at line 16 of file Dissipative.cpp.

◆ compute_orthonormal_basis() [2/3]

Eigen::MatrixXd controllers::impedance::Dissipative< JointState >::compute_orthonormal_basis ( const JointState & desired_velocity )

protected

Definition at line 79 of file Dissipative.cpp.

◆ compute_orthonormal_basis() [3/3]

template<class S >

Eigen::MatrixXd controllers::impedance::Dissipative< S >::compute_orthonormal_basis ( const S & desired_velocity )

protected

Compute the orthonormal basis based on the desired velocity input.

Parameters

desired_velocity the desired velocity used as main eigenvector used to compute the basis. Other eigenvectors are orthogonal and selected randomly

Returns: the orthonormalized basis

Definition at line 10 of file Dissipative.cpp.

◆ orthonormalize_basis()

template<class S >

Eigen::MatrixXd controllers::impedance::Dissipative< S >::orthonormalize_basis	(	const Eigen::MatrixXd &	basis,
		const Eigen::VectorXd &	main_eigenvector
	)

staticprotected

Orthornormalize the basis matrix given in input wrt the main engenvector.

Parameters

basis	the basis matrix to orthonormalize
main_eigenvector	the main eigenvector used to compute the basis. Other eigenvectors are orthogonal and selected randomly

Returns: the orthonormalized basis

Definition at line 137 of file Dissipative.hpp.

◆ validate_and_set_parameter()

template<class S >

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

overrideprotected

Validate and set parameter for damping eigenvalues.

Parameters

parameter A parameter interface pointer

Definition at line 128 of file Dissipative.hpp.

Member Data Documentation

◆ basis_

template<class S >

Eigen::MatrixXd controllers::impedance::Dissipative< S >::basis_

protected

basis matrix used to compute the damping matrix

Definition at line 97 of file Dissipative.hpp.

◆ computational_space_

template<class S >

const ComputationalSpaceType controllers::impedance::Dissipative< S >::computational_space_

protected

the space in which to compute the command vector

Definition at line 95 of file Dissipative.hpp.

◆ damping_eigenvalues_

template<class S >

std::shared_ptr<state_representation::Parameter<Eigen::VectorXd> > controllers::impedance::Dissipative< S >::damping_eigenvalues_

protected

coefficient of eigenvalues used in the damping matrix computation

Definition at line 93 of file Dissipative.hpp.

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

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

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Dissipative() [1/2]

◆ Dissipative() [2/2]

Member Function Documentation

◆ compute_command()

◆ compute_damping()

◆ compute_orthonormal_basis() [1/3]

◆ compute_orthonormal_basis() [2/3]

◆ compute_orthonormal_basis() [3/3]

◆ orthonormalize_basis()

◆ validate_and_set_parameter()

Member Data Documentation

◆ basis_

◆ computational_space_

◆ damping_eigenvalues_