An abstract class that implements a robot. More...

#include <robot.h>

Inheritance diagram for arl::robot::Robot:

Collaboration diagram for arl::robot::Robot:

Public Member Functions
	Robot ()
	Empty constructor. More...

	Robot (std::shared_ptr< Model > m, const std::string &name="Unnamed")
	Default constructor. More...

virtual void	setJointPosition (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint positions to the robot using KDL. More...

virtual void	setJointPosition (const arma::vec &input, const int chain_index=-1)
	Sends joint positions to the robot using Armadillo. More...

virtual void	setJointPosition (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint positions to the robot using Eigen. More...

virtual void	setJointTrajectory (const KDL::JntArray &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using KDL. More...

virtual void	setJointTrajectory (const arma::vec &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Armadillo. More...

virtual void	setJointTrajectory (const Eigen::VectorXd &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Eigen. More...

virtual void	setJointVelocity (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

virtual void	setJointVelocity (const arma::vec &input, const int chain_index=-1)
	Sends joint velocities to the robot using Armadillo. More...

virtual void	setJointVelocity (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint velocities to the robot using Eigen. More...

virtual void	setJointTorque (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

virtual void	setJointTorque (const arma::vec &input, const int chain_index=-1)
	Sends joint torques to the robot using Armadillo. More...

virtual void	setJointTorque (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint torques to the robot using Eigen. More...

virtual void	setTaskPose (const KDL::Frame &input, const unsigned int chain_index=0)
	Sends joint torques to the robot using KDL. More...

virtual void	setTaskPose (const arma::mat &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Armadillo. More...

virtual void	setTaskPose (const Eigen::MatrixXd &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Eigen. More...

virtual void	setCartStiffness (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setTwist (const KDL::Twist &input, const unsigned int chain_index=0)

virtual void	setTwist (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Armadillo. More...

virtual void	setTwist (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Eigen. More...

virtual void	setWrench (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using KDL. More...

virtual void	setWrench (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Armadillo. More...

virtual void	setWrench (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Eigen. More...

virtual void	getJointPosition (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint positions to the robot using KDL. More...

virtual void	getJointPosition (arma::vec &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Armadillo. More...

virtual void	getJointPosition (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Eigen. More...

virtual void	getJointVelocity (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using KDL. More...

virtual void	getJointVelocity (arma::vec &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Armadillo. More...

virtual void	getJointVelocity (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Eigen. More...

virtual void	getJointTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint torques from the robot using KDL. More...

virtual void	getJointTorque (arma::vec &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Armadillo. More...

virtual void	getJointTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Eigen. More...

virtual void	getJointExternalTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using KDL. More...

virtual void	getJointExternalTorque (arma::vec &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Armadillo. More...

virtual void	getJointExternalTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Eigen. More...

virtual void	getJointStiffness (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using KDL. More...

virtual void	getJointStiffness (arma::vec &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Armadillo. More...

virtual void	getJointStiffness (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Eigen. More...

virtual void	getJointDamping (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint damping from the robot using KDL. More...

virtual void	getJointDamping (arma::vec &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Armadillo. More...

virtual void	getJointDamping (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Eigen. More...

virtual void	getTaskPose (KDL::Frame &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using KDL. More...

virtual void	getTaskPose (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Armadillo. More...

virtual void	getTaskPose (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Eigen. More...

virtual void	getTaskPosition (KDL::Vector &output, const unsigned int chain_index=0)
	Reads the current Cartesian Position from the robot using KDL. More...

virtual void	getTaskPosition (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian position from the robot using Armadillo. More...

virtual void	getTaskPosition (Eigen::Vector3d &output, const unsigned int chain_index=0)
	Reads the current joint positions from the robot using Eigen. More...

virtual void	getTaskOrientation (KDL::Rotation &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using KDL. More...

virtual void	getTaskOrientation (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Armadillo. More...

virtual void	getTaskOrientation (Eigen::Matrix3d &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Eigen. More...

virtual void	getTwist (KDL::Twist &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using KDL. More...

virtual void	getTwist (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Armadillo. More...

virtual void	getTwist (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Eigen. More...

virtual void	getWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using KDL. More...

virtual void	getWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Armadillo. More...

virtual void	getWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Eigen. More...

virtual void	getExternalWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using KDL. More...

virtual void	getExternalWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Armadillo. More...

virtual void	getExternalWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Eigen. More...

virtual void	getTaskStiffness (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using KDL. More...

virtual void	getTaskStiffness (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Armadillo. More...

virtual void	getTaskStiffness (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Eigen. More...

virtual void	getTaskDamping (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using KDL. More...

virtual void	getTaskDamping (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping rom the robot using Armadillo. More...

virtual void	getTaskDamping (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using Eigen. More...

virtual void	getJacobian (KDL::Jacobian &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using KDL. More...

virtual void	getJacobian (arma::mat &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Armadillo. More...

virtual void	getJacobian (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Eigen. More...

virtual void	getMassMatrix (KDL::Frame &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (arma::mat &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (Eigen::MatrixXd &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	stop ()

virtual void	setMode (Mode mode)
	Sets the mode of the robot. More...

virtual void	measure ()

virtual void	waitNextCycle ()=0
	Function that blocks the control loop before the next control cycle starts. More...

virtual bool	isOk ()=0
	Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use. More...

template<typename T >
void	getJointVelocityGeneric (T &output, const int chain_index=-1)
	Reads the joint velocity using the derivative of the position (previous and current position) More...

template<typename T >
void	setJointVelocityGeneric (T &input, const int chain_index=-1)
	Reads the joint velocity by integrating the position (previous and current position) More...

Public Attributes
arma::vec	joint_pos_prev
	Stores the previous joint position used by arl::robot::setJointPositionGeneric. More...

double	cycle
	The control cycle of the robot. More...

std::shared_ptr< Model >	model
	A pointer to the Model that this Robot is using. More...

std::string	robot_name
	The name of the robot. E.g. "KUKA LWR4". More...

std::string	alias
	The alias of the robot, which is the name in lower case without spaces. E.g. "kuka_lwr4". More...

Mode	mode
	The current Mode of the robot. More...

Protected Member Functions
void	throwFunctionIsNotImplemented (std::string function_name)

Protected Attributes
std::vector< State >	state
	The current state of the robot. More...

Detailed Description

An abstract class that implements a robot.

This class encaptulates functionalities that abstracts any robot hardware. The core functionalities are read from and send to the robot positions, trajectories, velocities or efforts (joint torques or wrenches in task space) either to the joint space or the task space. Also reading the base Jacobian matrix of the robot in each cycle. Furthermore reading or sending joint/task stiffness or damping in compliant robots. Other functionalities include setting the mode of the robot, checking if the hardware is operable etc. This API class aims to support multiple client libraries like KDL, Armadillo or Eigen.

Constructor & Destructor Documentation

arl::robot::Robot::Robot ( )

Empty constructor.

arl::robot::Robot::Robot	(	std::shared_ptr< Model >	m,
		const std::string &	name = `"Unnamed"`
	)

explicit

Default constructor.

Parameters

m	The model that this robot will use
name	The name of the robot. Defaults to "Unnamed"

Here is the call graph for this function:

Member Function Documentation

void arl::robot::Robot::getExternalWrench	(	KDL::Wrench &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getExternalWrench	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getExternalWrench	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current external Cartesian force/torque from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJacobian	(	KDL::Jacobian &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian matrix from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getJacobian	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian matrix from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getJacobian	(	Eigen::MatrixXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current base Jacobian matrix from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getJointDamping	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint damping from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointDamping	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint damping from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointDamping	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint damping from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointExternalTorque	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external joint torques from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointExternalTorque	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external joint torques from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointExternalTorque	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current external joint torques from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointPosition	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions to the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, arl::mujoco::Robot, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointPosition	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointPosition	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, arl::mujoco::Robot, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointStiffness	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint stiffness from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointStiffness	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint stiffness from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointStiffness	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint stiffness from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getJointTorque	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointTorque	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointTorque	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint torques from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointVelocity	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointVelocity	(	arma::vec &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getJointVelocity	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::mujoco::Robot.

Here is the call graph for this function:

template<typename T >

void arl::robot::Robot::getJointVelocityGeneric	(	T &	output,
		const int	chain_index = `-1`
	)

inline

Reads the joint velocity using the derivative of the position (previous and current position)

Parameters

output	The current joint velocities
chain_index	The index of the chain

Here is the call graph for this function:

void arl::robot::Robot::getMassMatrix	(	KDL::Frame &	output,
		const int	chain_index = `0`
	)

virtual

Reads the current mass matrix from the robot.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getMassMatrix	(	arma::mat &	output,
		const int	chain_index = `0`
	)

virtual

Reads the current mass matrix from the robot.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getMassMatrix	(	Eigen::MatrixXd &	output,
		const int	chain_index = `0`
	)

virtual

Reads the current mass matrix from the robot.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskDamping	(	KDL::JntArray &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian damping from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskDamping	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian damping rom the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskDamping	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian damping from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskOrientation	(	KDL::Rotation &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskOrientation	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::bhand::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskOrientation	(	Eigen::Matrix3d &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian orientation (Rotation matrix) from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::bhand::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPose	(	KDL::Frame &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPose	(	arma::mat &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::bhand::Robot, lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPose	(	Eigen::MatrixXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian pose from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPosition	(	KDL::Vector &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian Position from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPosition	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian position from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getTaskPosition	(	Eigen::Vector3d &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, arl::robot::RobotSim, and arl::bhand::Robot.

Here is the call graph for this function:

void arl::robot::Robot::getTaskStiffness	(	KDL::JntArray &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian stiffness from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskStiffness	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian stiffness from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTaskStiffness	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian stiffness from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getTwist	(	KDL::Twist &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTwist	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getTwist	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian velocity from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot, and arl::robot::RobotSim.

Here is the call graph for this function:

void arl::robot::Robot::getWrench	(	KDL::Wrench &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian force/torque from the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getWrench	(	arma::vec &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian force/torque from the robot using Armadillo.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::getWrench	(	Eigen::VectorXd &	output,
		const unsigned int	chain_index = `0`
	)

virtual

Reads the current Cartesian force/torque from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

virtual bool arl::robot::Robot::isOk ( )

pure virtual

Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use.

Returns: True if the robot haven't returns any errors. False otherwise.

Implemented in lwr::robot::Robot, arl::bhand::Robot, arl::robot::RobotSim, and arl::mujoco::Robot.

void arl::robot::Robot::measure ( )

virtual

Here is the call graph for this function:

void arl::robot::Robot::setCartDamping	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setCartDamping	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setCartDamping	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian damping for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setCartStiffness	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setCartStiffness	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setCartStiffness	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends the cartesian stiffness for robots which provide Cartesian Impedance controller.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointPosition	(	const KDL::JntArray &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, arl::bhand::Robot, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointPosition	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, arl::bhand::Robot, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointPosition	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, arl::bhand::Robot, lwr::robot::Robot, and arl::mujoco::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTorque	(	const KDL::JntArray &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTorque	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint torques to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTorque	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint torques to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTrajectory	(	const KDL::JntArray &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTrajectory	(	const arma::vec &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointTrajectory	(	const Eigen::VectorXd &	input,
		double	duration,
		const int	chain_index = `-1`
	)

virtual

Sends joint trajectories to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::robot::RobotSim, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointVelocity	(	const KDL::JntArray &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::bhand::Robot, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointVelocity	(	const arma::vec &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::bhand::Robot, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setJointVelocity	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint velocities to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in arl::bhand::Robot, and lwr::robot::Robot.

Here is the call graph for this function:

template<typename T >

void arl::robot::Robot::setJointVelocityGeneric	(	T &	input,
		const int	chain_index = `-1`
	)

inline

Reads the joint velocity by integrating the position (previous and current position)

Parameters

output	The commanded joint velocities
chain_index	The index of the chain

Here is the call graph for this function:

void arl::robot::Robot::setMode ( Mode mode )

virtual

Sets the mode of the robot.

Parameters

mode	The desired Mode of the Robot.
chain_index	The chain that will change mode. Defaults to zero.

Reimplemented in arl::bhand::Robot, arl::robot::RobotSim, and lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setTaskPose	(	const KDL::Frame &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends joint torques to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setTaskPose	(	const arma::mat &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian pose to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setTaskPose	(	const Eigen::MatrixXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian pose to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setTwist	(	const KDL::Twist &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Here is the call graph for this function:

void arl::robot::Robot::setTwist	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian velocity to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::setTwist	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian velocity to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Here is the call graph for this function:

void arl::robot::Robot::setWrench	(	const KDL::Wrench &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian velocity to the robot using KDL.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setWrench	(	const arma::vec &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian force/torque to the robot using Armadillo.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::setWrench	(	const Eigen::VectorXd &	input,
		const unsigned int	chain_index = `0`
	)

virtual

Sends Cartesian force/torque to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::stop ( )

virtual

Reimplemented in lwr::robot::Robot.

Here is the call graph for this function:

void arl::robot::Robot::throwFunctionIsNotImplemented ( std::string function_name )

protected

Prints a warning that the function is not implemented by the derived class.

virtual void arl::robot::Robot::waitNextCycle ( )

pure virtual

Function that blocks the control loop before the next control cycle starts.

Can be implemented by sleeping or waiting for a signal from the robot. The function is not const in case in some implementations you want to change variable (e.g. a flag for reading the velocity by differentiating the position).

Implemented in arl::bhand::Robot, arl::robot::RobotSim, arl::mujoco::Robot, and lwr::robot::Robot.

Member Data Documentation

std::string arl::robot::Robot::alias

The alias of the robot, which is the name in lower case without spaces. E.g. "kuka_lwr4".

double arl::robot::Robot::cycle

The control cycle of the robot.

Can be reading it online by the robot hardware or setted by the contructor of your robot.

arma::vec arl::robot::Robot::joint_pos_prev

Stores the previous joint position used by arl::robot::setJointPositionGeneric.

Mode arl::robot::Robot::mode

The current Mode of the robot.

std::shared_ptr<Model> arl::robot::Robot::model

A pointer to the Model that this Robot is using.

std::string arl::robot::Robot::robot_name

The name of the robot. E.g. "KUKA LWR4".

std::vector<State> arl::robot::Robot::state

protected

The current state of the robot.

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation