dg_tools
Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
dynamicgraph::sot::ComImpedanceControl Class Reference
Inheritance diagram for dynamicgraph::sot::ComImpedanceControl:
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Collaboration diagram for dynamicgraph::sot::ComImpedanceControl:
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Public Member Functions

 ComImpedanceControl (const std::string &name)
 
void init (const double &step)
 
virtual const std::string & getClassName (void) const
 

Public Attributes

SignalPtr< dg::Vector, int > KpSIN
 
SignalPtr< dg::Vector, int > KpAngSIN
 
SignalPtr< dg::Vector, int > KdAngSIN
 
SignalPtr< dg::Vector, int > KdSIN
 
SignalPtr< dg::Vector, int > positionSIN
 
SignalPtr< dg::Vector, int > desiredpositionSIN
 
SignalPtr< dg::Vector, int > biasedpositionSIN
 
SignalPtr< dg::Vector, int > velocitySIN
 
SignalPtr< dg::Vector, int > desiredvelocitySIN
 
SignalPtr< dg::Vector, int > biasedvelocitySIN
 
SignalPtr< dg::Vector, int > inertiaSIN
 
SignalPtr< dg::Vector, int > massSIN
 
SignalPtr< dg::Vector, int > oriSIN
 
SignalPtr< dg::Vector, int > desoriSIN
 
SignalPtr< dg::Vector, int > angvelSIN
 
SignalPtr< dg::Vector, int > desiredangvelSIN
 
SignalPtr< dg::Vector, int > feedforwardforceSIN
 
SignalPtr< dg::Vector, int > feedforwardtorquesSIN
 
SignalPtr< dg::Vector, int > cntsensorSIN
 
SignalPtr< dg::Vector, int > thrcntvalueSIN
 
SignalPtr< dg::Vector, int > lqrerrorSIN
 
SignalPtr< dg::Vector, int > lqrgainSIN
 
SignalPtr< dg::Vector, int > lctrlSIN
 
SignalPtr< dg::Vector, int > actrlSIN
 
SignalPtr< dg::Matrix, int > hessSIN
 
SignalPtr< dg::Vector, int > g0SIN
 
SignalPtr< dg::Matrix, int > ceSIN
 
SignalPtr< dg::Matrix, int > ciSIN
 
SignalPtr< dg::Vector, int > ci0SIN
 
SignalPtr< dg::Matrix, int > regSIN
 
SignalPtr< dg::Vector, int > absendeffposSIN
 
SignalPtr< dg::Vector, int > absendeffvelSIN
 
SignalPtr< dg::Vector, int > leglengthflSIN
 for balancing taks on a planck
 
SignalPtr< dg::Vector, int > leglengthhlSIN
 
SignalTimeDependent< dg::Vector, int > controlSOUT
 
SignalTimeDependent< dg::Vector, int > angcontrolSOUT
 
SignalTimeDependent< dg::Vector, int > SetPosBiasSOUT
 
SignalTimeDependent< dg::Vector, int > SetVelBiasSOUT
 
SignalTimeDependent< dg::Vector, int > ThrCntSensorSOUT
 
SignalTimeDependent< dg::Vector, int > lqrcontrolSOUT
 
SignalTimeDependent< dg::Vector, int > endefflqrcontrolSOUT
 
SignalTimeDependent< dg::Vector, int > wbcontrolSOUT
 
SignalTimeDependent< dg::Vector, int > descomposSOUT
 

Static Public Attributes

static const double TIME_STEP_DEFAULT
 
static const std::string CLASS_NAME
 

Protected Member Functions

double & setsize (int dimension)
 
dg::Vector & return_control_torques (dg::Vector &tau, int t)
 
dg::Vector & return_angcontrol_torques (dg::Vector &angtau, int t)
 
dg::Vector & set_pos_bias (dg::Vector &pos_bias, int t)
 
dg::Vector & set_vel_bias (dg::Vector &vel_bias, int t)
 
dg::Vector & threshold_cnt_sensor (dg::Vector &thr_cnt_sensor, int t)
 
dg::Vector & return_lqr_tau (dg::Vector &lqrtau, int t)
 
dg::Vector & return_end_eff_lqr_tau (dg::Vector &end_eff_lqr_tau, int t)
 
dg::Vector & compute_end_eff_forces (dg::Vector &end_forces, int t)
 
dg::Vector & compute_des_com_pos (dg::Vector &des_com_pos, int t)
 

Protected Attributes

double TimeStep
 
dg::Vector pos_error
 
dg::Vector vel_error
 
dg::Vector h_error
 
dg::Vector ori_error
 
dg::Vector position_bias
 
dg::Vector velocity_bias
 
float w1
 
float w2
 
dg::Vector ce0
 
dg::Vector end_forces
 
dg::Matrix hess_new
 
dg::Vector g0_new
 
dg::Matrix ce_new
 
dg::Matrix ci_new
 
Eigen::QuadProgDense qp
 
Eigen::Quaternion< double > ori_quat
 
Eigen::Quaternion< double > des_ori_quat
 
Eigen::Quaternion< double > ori_error_quat
 
Eigen::Matrix< double, 3, 3 > ori_se3
 
Eigen::Matrix< double, 3, 3 > des_ori_se3
 
Eigen::Matrix< double, 3, 3 > ori_error_se3
 
dg::Vector diff
 
Eigen::MatrixXd K
 
Eigen::VectorXd delta_x
 
Eigen::Vector3d lqr_pos_error
 
Eigen::Vector3d lqr_vel_error
 
Eigen::Vector4d lqr_ori_error
 
Eigen::Vector3d lqr_ang_vel_error
 
Eigen::VectorXd f_des
 
int init_flag_pos
 
int init_flag_vel
 
int isbiasset
 
int safetyswitch
 
int t_start
 
int bias_time
 

Member Function Documentation

dynamicgraph::Vector & ComImpedanceControl::return_end_eff_lqr_tau ( dg::Vector &  end_eff_lqr_tau,
int  t 
)
protected

this method computes the desired forces at the end effector based on the plan using lqr gains computated with orientation control

dynamicgraph::Vector & ComImpedanceControl::return_lqr_tau ( dg::Vector &  lqrtau,
int  t 
)
protected

This method carries out a matrix multiplication of lqr gains obtained from the dynamic planner. lqr_matrix * [[com_error], [lmom_error], [ori_error], [amom_error]]

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