sot-core  4.11.8
Hierarchical task solver plug-in for dynamic-graph.
dynamicgraph::sot::core::AdmittanceControlOpPoint Class Reference

Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft) More...

#include <sot/core/admittance-control-op-point.hh>

Inheritance diagram for dynamicgraph::sot::core::AdmittanceControlOpPoint:

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW AdmittanceControlOpPoint (const std::string &name)
 
void init (const double &dt)
 Initialize the entity. More...
 
 DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector)
 Gain (6d) for the integration of the error on the force. More...
 
 DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector)
 Derivative gain (6d) for the error on the force. More...
 
 DECLARE_SIGNAL_IN (dqSaturation, dynamicgraph::Vector)
 Value of the saturation to apply on the velocity output. More...
 
 DECLARE_SIGNAL_IN (force, dynamicgraph::Vector)
 6d force given by the sensor in its local frame More...
 
 DECLARE_SIGNAL_IN (w_forceDes, dynamicgraph::Vector)
 6d desired force of the end-effector in the world frame More...
 
 DECLARE_SIGNAL_IN (opPose, dynamicgraph::sot::MatrixHomogeneous)
 Current position (matrixHomogeneous) of the given operational point. More...
 
 DECLARE_SIGNAL_IN (sensorPose, dynamicgraph::sot::MatrixHomogeneous)
 Current position (matrixHomogeneous) of the given force sensor. More...
 
 DECLARE_SIGNAL_INNER (w_force, dynamicgraph::Vector)
 6d force given by the sensor in the world frame More...
 
 DECLARE_SIGNAL_INNER (w_dq, dynamicgraph::Vector)
 Internal intergration computed in the world frame. More...
 
 DECLARE_SIGNAL_OUT (dq, dynamicgraph::Vector)
 Velocity reference for the end-effector in the local frame. More...
 
void resetDq ()
 Reset the velocity. More...
 
virtual void display (std::ostream &os) const
 

Protected Attributes

int m_n
 Dimension of the force signals and of the output. More...
 
bool m_initSucceeded
 True if the entity has been successfully initialized. More...
 
dynamicgraph::Vector m_w_dq
 Internal state. More...
 
double m_dt
 Time step of the control. More...
 
double m_mass
 

Detailed Description

Admittance controller for an operational point wrt to a force sensor. It can be a point of the model (hand) or not (created operational point: an object in the hand of the robot) Which is closed to a force sensor (for instance the right or left wrist ft)

This entity computes a velocity reference for an operational point based on the force error in the world frame : w_dq = integral(Kp(w_forceDes-w_force)) + Kd (w_dq)

Constructor & Destructor Documentation

◆ AdmittanceControlOpPoint()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW dynamicgraph::sot::core::AdmittanceControlOpPoint::AdmittanceControlOpPoint ( const std::string &  name)

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( Kp  ,
dynamicgraph::Vector   
)

Gain (6d) for the integration of the error on the force.

◆ DECLARE_SIGNAL_IN() [2/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( Kd  ,
dynamicgraph::Vector   
)

Derivative gain (6d) for the error on the force.

◆ DECLARE_SIGNAL_IN() [3/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( dqSaturation  ,
dynamicgraph::Vector   
)

Value of the saturation to apply on the velocity output.

◆ DECLARE_SIGNAL_IN() [4/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( force  ,
dynamicgraph::Vector   
)

6d force given by the sensor in its local frame

◆ DECLARE_SIGNAL_IN() [5/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( w_forceDes  ,
dynamicgraph::Vector   
)

6d desired force of the end-effector in the world frame

◆ DECLARE_SIGNAL_IN() [6/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( opPose  ,
dynamicgraph::sot::MatrixHomogeneous   
)

Current position (matrixHomogeneous) of the given operational point.

◆ DECLARE_SIGNAL_IN() [7/7]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_IN ( sensorPose  ,
dynamicgraph::sot::MatrixHomogeneous   
)

Current position (matrixHomogeneous) of the given force sensor.

◆ DECLARE_SIGNAL_INNER() [1/2]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER ( w_force  ,
dynamicgraph::Vector   
)

6d force given by the sensor in the world frame

◆ DECLARE_SIGNAL_INNER() [2/2]

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_INNER ( w_dq  ,
dynamicgraph::Vector   
)

Internal intergration computed in the world frame.

◆ DECLARE_SIGNAL_OUT()

dynamicgraph::sot::core::AdmittanceControlOpPoint::DECLARE_SIGNAL_OUT ( dq  ,
dynamicgraph::Vector   
)

Velocity reference for the end-effector in the local frame.

◆ display()

virtual void dynamicgraph::sot::core::AdmittanceControlOpPoint::display ( std::ostream &  os) const
virtual

◆ init()

void dynamicgraph::sot::core::AdmittanceControlOpPoint::init ( const double &  dt)

Initialize the entity.

Parameters
[in]dtTime step of the control

◆ resetDq()

void dynamicgraph::sot::core::AdmittanceControlOpPoint::resetDq ( )

Reset the velocity.

Member Data Documentation

◆ m_dt

double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_dt
protected

Time step of the control.

◆ m_initSucceeded

bool dynamicgraph::sot::core::AdmittanceControlOpPoint::m_initSucceeded
protected

True if the entity has been successfully initialized.

◆ m_mass

double dynamicgraph::sot::core::AdmittanceControlOpPoint::m_mass
protected

◆ m_n

int dynamicgraph::sot::core::AdmittanceControlOpPoint::m_n
protected

Dimension of the force signals and of the output.

◆ m_w_dq

dynamicgraph::Vector dynamicgraph::sot::core::AdmittanceControlOpPoint::m_w_dq
protected

Internal state.


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