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Getting Started

  • Installation and Configuration
    • Dependencies
      • Installing the dependencies
    • Installing ORCA
    • Testing your installation
  • Quick Start Guide
    • What’s next?
  • Where to go from here?
    • Check out the examples
    • Want to use ORCA in you project?
    • Check out the API Documentation
    • ROS or OROCOS user?
  • Building the documentation
    • How to build
      • Python dependencies
      • Doxygen
      • Building the docs with Sphinx
      • How to browse
  • Using ORCA in your projects
    • CMake
    • catkin

Reference

  • API Reference
    • API Documentation

Examples

  • Basic
    • Simple controller
      • Objective
      • Introduction
      • Setup
      • Creating the Controller
      • Adding Tasks
      • Adding Constraints
      • Control Loop
      • Shutting Things Down
      • Conclusion
      • Full Code Listing
    • Simulating the controller performance
    • Full Code Listing
  • Intermediate
    • An introduction to the ORCA callback system
    • Full Code Listing
    • Using lambda functions in the callbacks
    • Full Code Listing
  • Gazebo
    • Simulating a single robot
    • Full Code Listing
    • Simulating multiple robots
    • Full Code Listing
    • Set robot state
    • Full Code Listing
    • Set robot state with gravity compensation
    • Full Code Listing
    • Using Gazebo to simulate an ORCA controller
    • Full Code Listing
    • Minimum jerk Cartesian trajectory following
    • Full Code Listing
  • Plotting
    • Using the internal plotting tools
    • Full Code Listing

Controller Formulation

  • Overview
  • Dynamics
    • Free-Floating Rigid Body Dynamics
  • Optimization
    • Optimization Vector
    • The Optimization Problem
      • Objective Function Implementation
      • Constraint Implementation
      • ORCA QP
  • Tasks
    • Control Objectives (Tasks)
    • Cartesian Acceleration Task
    • Joint Acceleration Task
    • Wrench Task
    • Torque Task
    • Task Servoing
  • Constraints
    • Control Constraints
    • Dynamics Constraints
    • Actuator Limit Constraints
    • Joint Limit Constraints
    • Contact Constraints
  • Resolution Strategies
    • Multi-Objective Optimization
      • Resolution (Prioritization) Strategies for Whole-Body Control
      • Resolution Strategies in ORCA
    • One Level Weighted
    • Multi-Level Weighted
    • Generalized

License Information

  • License
ORCA
  • Docs »
  • Basic
  • Edit on GitHub

Basic

  • Simple controller
    • Objective
    • Introduction
    • Setup
    • Creating the Controller
    • Adding Tasks
    • Adding Constraints
    • Control Loop
    • Shutting Things Down
    • Conclusion
    • Full Code Listing
  • Simulating the controller performance
  • Full Code Listing

Intermediate

  • An introduction to the ORCA callback system
  • Full Code Listing
  • Using lambda functions in the callbacks
  • Full Code Listing

Gazebo

  • Simulating a single robot
  • Full Code Listing
  • Simulating multiple robots
  • Full Code Listing
  • Set robot state
  • Full Code Listing
  • Set robot state with gravity compensation
  • Full Code Listing
  • Using Gazebo to simulate an ORCA controller
  • Full Code Listing
  • Minimum jerk Cartesian trajectory following
  • Full Code Listing

Plotting

  • Using the internal plotting tools
  • Full Code Listing
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