ORCA: Optimization-based framework for Robotic Control Applications
CartesianServoController.h
Go to the documentation of this file.
1 //| This file is a part of the ORCA framework.
2 //|
3 //| Copyright 2018, Fuzzy Logic Robotics
4 //| Copyright 2017, ISIR / Universite Pierre et Marie Curie (UPMC)
5 //|
6 //| Main contributor(s): Antoine Hoarau, Ryan Lober, and
7 //| Fuzzy Logic Robotics <info@fuzzylogicrobotics.com>
8 //|
9 //| ORCA is a whole-body reactive controller framework for robotics.
10 //|
11 //| This software is governed by the CeCILL-C license under French law and
12 //| abiding by the rules of distribution of free software. You can use,
13 //| modify and/ or redistribute the software under the terms of the CeCILL-C
14 //| license as circulated by CEA, CNRS and INRIA at the following URL
15 //| "http://www.cecill.info".
16 //|
17 //| As a counterpart to the access to the source code and rights to copy,
18 //| modify and redistribute granted by the license, users are provided only
19 //| with a limited warranty and the software's author, the holder of the
20 //| economic rights, and the successive licensors have only limited
21 //| liability.
22 //|
23 //| In this respect, the user's attention is drawn to the risks associated
24 //| with loading, using, modifying and/or developing or reproducing the
25 //| software by the user in light of its specific status of free software,
26 //| that may mean that it is complicated to manipulate, and that also
27 //| therefore means that it is reserved for developers and experienced
28 //| professionals having in-depth computer knowledge. Users are therefore
29 //| encouraged to load and test the software's suitability as regards their
30 //| requirements in conditions enabling the security of their systems and/or
31 //| data to be ensured and, more generally, to use and operate it in the
32 //| same conditions as regards security.
33 //|
34 //| The fact that you are presently reading this means that you have had
35 //| knowledge of the CeCILL-C license and that you accept its terms.
36 
37 #pragma once
38 #include "orca/math/Utils.h"
39 #include "orca/common/TaskBase.h"
40 
41 namespace orca
42 {
43  namespace common
44  {
46  {
47  public:
48  using Ptr = std::shared_ptr<CartesianServoController>;
49 
50  CartesianServoController(const std::string& name);
51  virtual const math::Vector6d& getCommand() const = 0;
52  void setBaseFrame(const std::string& base_ref_frame);
53  void setControlFrame(const std::string& control_frame);
54  const std::string& getBaseFrame() const;
55  const std::string& getControlFrame() const;
56  private:
57  Parameter<std::string> base_ref_frame_;
58  Parameter<std::string> control_frame_;
59  };
60  } // namespace common
61 } // namespace orca
62 
63 // namespace orca
64 // {
65 // namespace common
66 // {
67 // template<>
68 // class Parameter<CartesianServoController::Ptr>
69 // : public ParameterBase
70 // , public ParameterData<CartesianServoController::Ptr>
71 // {
72 // public:
73 // bool loadFromString(const std::string& s)
74 // {
75 // std::cout << "loadFromString Parameter<CartesianServoController::Ptr> " << std::endl;
76 // return true;
77 // }
78 // };
79 // } // namespace common
80 // } // namespace orca
Definition: CartesianServoController.h:45
void setBaseFrame(const std::string &base_ref_frame)
Definition: CartesianServoController.cc:16
virtual const math::Vector6d & getCommand() const =0
void setControlFrame(const std::string &control_frame)
Definition: CartesianServoController.cc:22
const std::string & getBaseFrame() const
Definition: CartesianServoController.cc:28
Eigen::Matrix< double, 6, 1 > Vector6d
Definition: Utils.h:62
Definition: CartesianAccelerationPID.h:44
CartesianServoController(const std::string &name)
Definition: CartesianServoController.cc:9
std::shared_ptr< CartesianServoController > Ptr
Definition: CartesianServoController.h:48
The common base class for tasks and constraints.
Definition: TaskBase.h:59
const std::string & getControlFrame() const
Definition: CartesianServoController.cc:33