A velocity impedance is a normal impedance controller that only uses velocity input and integrates it for position error. More...

#include <VelocityImpedance.hpp>

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

Public Member Functions
	VelocityImpedance (unsigned int dimensions=6)
	Base constructor.

	VelocityImpedance (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 &desired_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.

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

JointState	compute_command (const JointState &desired_state, const JointState &feedback_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.

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.

Additional Inherited Members
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.

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::VelocityImpedance< S >

A velocity impedance is a normal impedance controller that only uses velocity input and integrates it for position error.

Template Parameters

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

Definition at line 15 of file VelocityImpedance.hpp.

Constructor & Destructor Documentation

◆ VelocityImpedance() [1/2]

template<class S >

controllers::impedance::VelocityImpedance< S >::VelocityImpedance ( 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 46 of file VelocityImpedance.hpp.

◆ VelocityImpedance() [2/2]

template<class S >

controllers::impedance::VelocityImpedance< S >::VelocityImpedance	(	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 52 of file VelocityImpedance.hpp.

Member Function Documentation

◆ compute_command() [1/3]

CartesianState controllers::impedance::VelocityImpedance< CartesianState >::compute_command	(	const CartesianState &	desired_state,
		const CartesianState &	feedback_state
	)

Definition at line 22 of file VelocityImpedance.cpp.

◆ compute_command() [2/3]

JointState controllers::impedance::VelocityImpedance< JointState >::compute_command	(	const JointState &	desired_state,
		const JointState &	feedback_state
	)

Definition at line 38 of file VelocityImpedance.cpp.

◆ compute_command() [3/3]

template<class S >

S controllers::impedance::VelocityImpedance< S >::compute_command	(	const S &	desired_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

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

Reimplemented from controllers::impedance::Impedance< S >.

Definition at line 16 of file VelocityImpedance.cpp.

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

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VelocityImpedance() [1/2]

◆ VelocityImpedance() [2/2]

Member Function Documentation

◆ compute_command() [1/3]

◆ compute_command() [2/3]

◆ compute_command() [3/3]