#include <CartesianAccelerationPID.h>

Inheritance diagram for orca::common::CartesianAccelerationPID:

Collaboration diagram for orca::common::CartesianAccelerationPID:

Public Member Functions
	CartesianAccelerationPID (const std::string &name)
	The cartesian acceleration PID helps any cartesian task servo around a desired cartesian pose, velocity and acceleration. $\begin{split} CartPID & = \ddot{X}_{des} + PID(X,\dot{X}) \\ & = \ddot{X}_{des} + K_P (X_{curr} - X_{des}) + K_I (X_{curr} - X_{des}) + K_D (\dot{X}_{curr} - \dot{X}_{des}) \end{split}$ . More...

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 from a trajectory generator. More...

const Vector6d &	getCommand () const
	Returns the computed command. More...

const Eigen::Matrix4d &	getCurrentCartesianPose () const
	Returns the current pose of the control frame (w.r.t the base frame) More...

const Eigen::Vector3d &	getCurrentCartesianPosition () const
	Returns the current position of the control frame (w.r.t the base frame) More...

const Eigen::Matrix3d &	getCurrentCartesianRotation () const
	Returns the current rotation of the control frame (w.r.t the base frame) More...

const Vector6d &	getCurrentCartesianVelocity () const
	Returns the current cartesian velocity in mixed representation. More...

const Eigen::Matrix4d &	getDesiredCartesianPose () const
	Returns desired pose (set with setDesired) More...

const Vector6d &	getDesiredCartesianVelocity () const
	Returns the desired cartesian acceleration (mixed representation) More...

const Vector6d &	getDesiredCartesianAcceleration () const
	Return the desired cartesian acceleration. More...

const Vector6d &	getCartesianPoseError () const
	Returns the computed pose error as a 6D Vector [dx,dy,dz,drx,dry,drz]. More...

const Vector6d &	getCartesianVelocityError () const
	Returns the computed cartesian velocity. More...

void	print () const
	Outputs info on std::cout. More...

PIDController::Ptr	pid ()
	The dimension 6 pid controller. More...

Public Member Functions inherited from orca::common::CartesianServoController
	CartesianServoController (const std::string &name)

void	setBaseFrame (const std::string &base_ref_frame)

void	setControlFrame (const std::string &control_frame)

const std::string &	getBaseFrame () const

const std::string &	getControlFrame () const

Public Member Functions inherited from orca::common::TaskBase
	TaskBase (const std::string &name, optim::ControlVariable control_var)

virtual	~TaskBase ()

bool	isActivated () const

bool	isComputing () const

bool	setRobotModel (robot::RobotModel::Ptr robot)

optim::ControlVariable	getControlVariable () const

virtual bool	activate ()

virtual void	update (double current_time, double dt)

virtual bool	deactivate ()

virtual bool	setProblem (std::shared_ptr< const orca::optim::Problem > problem)

bool	hasProblem () const

bool	hasRobot () const

bool	dependsOnProblem () const

bool	dependsOnWrench () const

bool	dependsOnRobotJoints () const

bool	dependsOnFloatingBase () const

bool	hasWrench () const

bool	isRobotInitialized () const

State	getState () const

void	setRampDuration (double ramp_time)

double	getRampDuration () const

double	getCurrentRampValue () const

double	getStartTime () const

double	getStopTime () const

std::shared_ptr< const optim::Problem >	getProblem () const

std::shared_ptr< const common::Wrench >	getWrench () const

std::shared_ptr< const robot::RobotModel >	getRobot () const

void	addChild (TaskBase::Ptr e)
	Add a child/slave task that will be updated BEFORE the parent task. More...

bool	hasParent () const
	Returns true if the task owned by a parent task. More...

bool	hasChildren () const
	Returns true if the task has children. More...

const std::string &	getParentName () const
	Returns the parent name if it exists, empty otherwise. More...

const std::string &	getPrintableName () const
	Returns the name that include parent name if present. More...

void	onResizedCallback (std::function< void(void)> cb)

void	onActivationCallback (std::function< void(void)> cb)

void	onActivatedCallback (std::function< void(void)> cb)

void	onComputeBeginCallback (std::function< void(double, double)> cb)

void	onComputeEndCallback (std::function< void(double, double)> cb)

void	onDeactivationCallback (std::function< void(void)> cb)

void	onDeactivatedCallback (std::function< void(void)> cb)

Public Member Functions inherited from orca::common::ConfigurableOrcaObject
	ConfigurableOrcaObject (const std::string &config_name)

virtual	~ConfigurableOrcaObject ()

template<class T >
void	addParameter (const std::string &param_name, Parameter< T > *param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)
	Returns true if all params added with have been set. More...

template<class T >
void	addParameter (const std::string &param_name, T &param, ParamPolicy policy=ParamPolicy::Required, std::function< void()> on_loading_success=0)

ParameterBase *	getParameter (const std::string &param_name)
	Returns a param via its name. More...

void	printParameters () const
	Print all parameters to std::cout. More...

bool	configureFromFile (const std::string &yaml_url)
	Configure the task from YAML/JSON file. It must contain all the required parameters. More...

bool	configureFromString (const std::string &yaml_str)
	Configure the task from YAML/JSON string. It must contain all the required parameters. More...

bool	isConfigured () const

const ParamMap &	getParameters () const

void	onConfigureSuccess (std::function< void()> f)

Public Member Functions inherited from orca::common::OrcaObject
	OrcaObject (const std::string &name)

virtual	~OrcaObject ()

const std::string &	getName () const

void	setName (const std::string &name)

Protected Member Functions
void	onResize ()

void	onActivation ()

void	onCompute (double current_time, double dt)

Protected Member Functions inherited from orca::common::TaskBase
virtual void	resize ()

robot::RobotModel::Ptr	robot ()

std::shared_ptr< Wrench >	wrench ()

virtual void	onResized ()

virtual void	onActivated ()

virtual bool	rampUp (double time_since_start)

void	setRampValue (double new_val)

virtual bool	rampDown (double time_since_stop)

virtual void	onDeactivation ()

virtual void	onDeactivated ()

Additional Inherited Members
Public Types inherited from orca::common::CartesianServoController
using	Ptr = std::shared_ptr< CartesianServoController >

Public Types inherited from orca::common::TaskBase
enum	State { Init = 0, Resized, Activating, Activated, Deactivating, Deactivated, Error }
	Represents the internal state of the task. More...

using	Ptr = std::shared_ptr< TaskBase >

Public Types inherited from orca::common::ConfigurableOrcaObject
using	Ptr = std::shared_ptr< ConfigurableOrcaObject >

using	ParamMap = std::map< std::string, ParameterBase * >

Public Attributes inherited from orca::common::TaskBase
orca::common::MutexRecursive	mutex
	The recursive mutex that is locked during the update function. It is up to the external user to lock this mutex to protect the task attributes. More...

Constructor & Destructor Documentation

CartesianAccelerationPID::CartesianAccelerationPID ( const std::string & name )

The cartesian acceleration PID helps any cartesian task servo around a desired cartesian pose, velocity and acceleration.

$\begin{split} CartPID & = \ddot{X}_{des} + PID(X,\dot{X}) \\ & = \ddot{X}_{des} + K_P (X_{curr} - X_{des}) + K_I (X_{curr} - X_{des}) + K_D (\dot{X}_{curr} - \dot{X}_{des}) \end{split}$

.

Parameters

name	The name of the component

Member Function Documentation

const Vector6d & CartesianAccelerationPID::getCartesianPoseError ( ) const

Returns the computed pose error as a 6D Vector [dx,dy,dz,drx,dry,drz].

Returns: const orca::math::Vector6d&

const Vector6d & CartesianAccelerationPID::getCartesianVelocityError ( ) const

Returns the computed cartesian velocity.

Returns: const orca::math::Vector6d&

const Vector6d & CartesianAccelerationPID::getCommand ( ) const

virtual

Returns the computed command.

Returns: const orca::math::Vector6d&

Implements orca::common::CartesianServoController.

const Eigen::Matrix4d & CartesianAccelerationPID::getCurrentCartesianPose ( ) const

Returns the current pose of the control frame (w.r.t the base frame)

Returns: const Eigen::Matrix4d&

const Eigen::Vector3d & CartesianAccelerationPID::getCurrentCartesianPosition ( ) const

Returns the current position of the control frame (w.r.t the base frame)

Returns: const Eigen::Vector3d&

const Eigen::Matrix3d & CartesianAccelerationPID::getCurrentCartesianRotation ( ) const

Returns the current rotation of the control frame (w.r.t the base frame)

Returns: const Eigen::Matrix3d&

const Vector6d & CartesianAccelerationPID::getCurrentCartesianVelocity ( ) const

Returns the current cartesian velocity in mixed representation.

Returns: const orca::math::Vector6d&

const Vector6d & CartesianAccelerationPID::getDesiredCartesianAcceleration ( ) const

Return the desired cartesian acceleration.

Returns: const orca::math::Vector6d&

const Eigen::Matrix4d & CartesianAccelerationPID::getDesiredCartesianPose ( ) const

Returns desired pose (set with setDesired)

Returns: const Eigen::Matrix4d&

const Vector6d & CartesianAccelerationPID::getDesiredCartesianVelocity ( ) const

Returns the desired cartesian acceleration (mixed representation)

Returns: const orca::math::Vector6d&

void CartesianAccelerationPID::onActivation ( )

protectedvirtual

Reimplemented from orca::common::TaskBase.

void CartesianAccelerationPID::onCompute	(	double	current_time,
		double	dt
	)

protectedvirtual

Implements orca::common::TaskBase.

void CartesianAccelerationPID::onResize ( )

protectedvirtual

Implements orca::common::TaskBase.

PIDController::Ptr CartesianAccelerationPID::pid ( )

The dimension 6 pid controller.

Returns: std::shared_ptr< orca::common::PIDController >

void CartesianAccelerationPID::print ( ) const

virtual

Outputs info on std::cout.

Reimplemented from orca::common::TaskBase.

void CartesianAccelerationPID::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 from a trajectory generator.

Parameters

cartesian_position_traj	The desired pose w.r.t the base frame
cartesian_velocity_traj	The desired cartesian velocity in mixed representation
cartesian_acceleration_traj	The desired cartesian acceleration in mixed representation

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

/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/include/orca/common/CartesianAccelerationPID.h
/home/docs/checkouts/readthedocs.org/user_builds/orca-controller/checkouts/dev/src/common/CartesianAccelerationPID.cc

Public Member Functions

Protected Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

Member Function Documentation