Definition of an impedance controller in either joint or task space. More...

#include <Impedance.hpp>

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

Public Member Functions
	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	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.

Protected Attributes
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::Impedance< S >

Definition of an impedance controller in either joint or task space.

Template Parameters

S	the space of the controller (either CartesianState or JointState)

Definition at line 18 of file Impedance.hpp.

Constructor & Destructor Documentation

◆ Impedance() [1/2]

template<class S >

controllers::impedance::Impedance< S >::Impedance ( unsigned int dimensions = 6 )

explicit

Base constructor.

This initializes all gain matrices to the identity matrix of the corresponding dimensionality.

Parameters

dimensions The number of dimensions associated with the controller

Definition at line 76 of file Impedance.hpp.

◆ Impedance() [2/2]

template<class S >

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

explicit

Constructor from an initial parameter list.

Parameters

parameters	A parameter list containing initial gain values
dimensions	The number of dimensions associated with the controller

Definition at line 94 of file Impedance.hpp.

Member Function Documentation

◆ clamp_force()

template<class S >

void controllers::impedance::Impedance< S >::clamp_force ( Eigen::VectorXd & force )

protected

Definition at line 102 of file Impedance.hpp.

◆ compute_command() [1/3]

CartesianState controllers::impedance::Impedance< CartesianState >::compute_command	(	const CartesianState &	command_state,
		const CartesianState &	feedback_state
	)

Definition at line 17 of file Impedance.cpp.

◆ compute_command() [2/3]

JointState controllers::impedance::Impedance< JointState >::compute_command	(	const JointState &	command_state,
		const JointState &	feedback_state
	)

Definition at line 50 of file Impedance.cpp.

◆ compute_command() [3/3]

template<class S >

S controllers::impedance::Impedance< S >::compute_command	(	const S &	command_state,
		const S &	feedback_state
	)

overridevirtual

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

Implements controllers::IController< S >.

Reimplemented in controllers::impedance::VelocityImpedance< S >, and controllers::impedance::VelocityImpedance< state_representation::CartesianState >.

Definition at line 12 of file Impedance.cpp.

◆ gain_matrix_from_parameter()

template<class S >

Eigen::MatrixXd controllers::impedance::Impedance< S >::gain_matrix_from_parameter ( const std::shared_ptr< state_representation::ParameterInterface > & parameter )

protected

Convert a parameterized gain to a gain matrix.

Parameters

parameter A parameter interface pointer of type double, double array or matrix

Returns: A square gain matrix

Definition at line 135 of file Impedance.hpp.

◆ validate_and_set_parameter()

template<class S >

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

overrideprotected

template<class S >

std::shared_ptr<state_representation::Parameter<Eigen::MatrixXd> > controllers::impedance::Impedance< S >::stiffness_

protected

stiffness matrix of the controller associated to position

Definition at line 62 of file Impedance.hpp.

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

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Impedance() [1/2]

◆ Impedance() [2/2]

Member Function Documentation

◆ clamp_force()

◆ compute_command() [1/3]

◆ compute_command() [2/3]

◆ compute_command() [3/3]

◆ gain_matrix_from_parameter()

◆ validate_and_set_parameter()

Member Data Documentation

◆ damping_

◆ dimensions_

◆ feed_forward_force_

◆ force_limit_

◆ inertia_

◆ stiffness_