75 void setDesired(
const Eigen::Matrix4d& cartesian_position_traj
76 ,
const Vector6d& cartesian_velocity_traj
77 ,
const Vector6d& cartesian_acceleration_traj);
152 void onCompute(
double current_time,
double dt);
156 Eigen::Matrix4d cart_pos_curr_,cart_pos_des_;
157 Eigen::Matrix3d cart_rot_curr_;
158 Eigen::Vector3d cart_position_curr_;
166 bool desired_set_ =
false;
PIDController::Ptr pid()
The dimension 6 pid controller.
Definition: CartesianAccelerationPID.cc:88
Definition: CartesianServoController.h:45
CartesianAccelerationPID(const std::string &name)
The cartesian acceleration PID helps any cartesian task servo around a desired cartesian pose...
Definition: CartesianAccelerationPID.cc:6
const Eigen::Matrix4d & getDesiredCartesianPose() const
Returns desired pose (set with setDesired)
Definition: CartesianAccelerationPID.cc:32
const Vector6d & getCartesianVelocityError() const
Returns the computed cartesian velocity.
Definition: CartesianAccelerationPID.cc:113
Definition: CartesianAccelerationPID.h:50
void onResize()
Definition: CartesianAccelerationPID.cc:45
void onActivation()
Definition: CartesianAccelerationPID.cc:93
const Eigen::Vector3d & getCurrentCartesianPosition() const
Returns the current position of the control frame (w.r.t the base frame)
Definition: CartesianAccelerationPID.cc:12
const Vector6d & getCommand() const
Returns the computed command.
Definition: CartesianAccelerationPID.cc:134
const Eigen::Matrix3d & getCurrentCartesianRotation() const
Returns the current rotation of the control frame (w.r.t the base frame)
Definition: CartesianAccelerationPID.cc:17
void setDesired(const Eigen::Matrix4d &cartesian_position_traj, const Vector6d &cartesian_velocity_traj, const Vector6d &cartesian_acceleration_traj)
Set the control frame desired cartesian pose w.r.t the base frame. This is usually something to get f...
Definition: CartesianAccelerationPID.cc:78
const Vector6d & getDesiredCartesianVelocity() const
Returns the desired cartesian acceleration (mixed representation)
Definition: CartesianAccelerationPID.cc:36
const Vector6d & getCurrentCartesianVelocity() const
Returns the current cartesian velocity in mixed representation.
Definition: CartesianAccelerationPID.cc:27
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:65
const Eigen::Matrix4d & getCurrentCartesianPose() const
Returns the current pose of the control frame (w.r.t the base frame)
Definition: CartesianAccelerationPID.cc:22
const Vector6d & getCartesianPoseError() const
Returns the computed pose error as a 6D Vector [dx,dy,dz,drx,dry,drz].
Definition: CartesianAccelerationPID.cc:108
Definition: CartesianAccelerationPID.h:44
const Vector6d & getDesiredCartesianAcceleration() const
Return the desired cartesian acceleration.
Definition: CartesianAccelerationPID.cc:40
void onCompute(double current_time, double dt)
Definition: CartesianAccelerationPID.cc:118
void print() const
Outputs info on std::cout.
Definition: CartesianAccelerationPID.cc:60
std::shared_ptr< PIDController > Ptr
Definition: PIDController.h:51