fog::FingerCompliance Class Reference

Implements a controller for active compliance of the hand's fingers. More...

#include <finger_compliance.h>

Inheritance diagram for fog::FingerCompliance:

Collaboration diagram for fog::FingerCompliance:

Public Member Functions
	FingerCompliance (std::shared_ptr< arl::robot::Robot > hand)
	The default contructor of the controller. More...
void	reference (const arma::mat &ref)
void	setPositionReference (const Eigen::Vector3d &x_ref)

Protected Member Functions
void	init ()
	Initializes the controller (runs only once in the beginning). More...
void	update ()
	Runs the calculations in each controller cycle. More...
bool	stop ()

Private Member Functions
void	updateHand ()
void	updateAdmittance ()
void	updateCompliance ()
void	updateRef ()

Private Attributes
arma::vec	hand_torque_msr_
arma::vec	hand_vel_cmd_
arma::vec	hand_pos_msr_
arma::vec	hand_pos_init_
arma::mat	hand_gain_
std::vector < arl::math::Admittance >	admittance
arma::vec	hand_pos_ref_
arma::vec	hand_pos_ref_prev_
arma::vec	hand_pos_ref_des_
double	admittance_position_correction
double	admittance_zeta
double	admittance_ts
double	admittance_stiffness
unsigned int	hand_control_strategy
arl::utils::Timer	ref_timer_
double	ref_time_
double	ref_duration_

Detailed Description

Implements a controller for active compliance of the hand's fingers.

Constructor & Destructor Documentation

fog::FingerCompliance::FingerCompliance

(

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

hand

)

The default contructor of the controller.

Parameters

hand	A pointer to the robot hand.

Member Function Documentation

void fog::FingerCompliance::init ( )

protected

Initializes the controller (runs only once in the beginning).

void fog::FingerCompliance::reference

(

const arma::mat &

ref

)

void fog::FingerCompliance::setPositionReference

(

const Eigen::Vector3d &

x_ref

)

bool fog::FingerCompliance::stop ( )

protected

void fog::FingerCompliance::update ( )

protected

Runs the calculations in each controller cycle.

Here is the call graph for this function:

void fog::FingerCompliance::updateAdmittance ( )

private

Here is the call graph for this function:

void fog::FingerCompliance::updateCompliance ( )

private

void fog::FingerCompliance::updateHand ( )

private

void fog::FingerCompliance::updateRef ( )

private

Member Data Documentation

std::vector<arl::math::Admittance> fog::FingerCompliance::admittance

private

double fog::FingerCompliance::admittance_position_correction

private

double fog::FingerCompliance::admittance_stiffness

private

double fog::FingerCompliance::admittance_ts

private

double fog::FingerCompliance::admittance_zeta

private

unsigned int fog::FingerCompliance::hand_control_strategy

private

arma::mat fog::FingerCompliance::hand_gain_

private

arma::vec fog::FingerCompliance::hand_pos_init_

private

arma::vec fog::FingerCompliance::hand_pos_msr_

private

arma::vec fog::FingerCompliance::hand_pos_ref_

private

arma::vec fog::FingerCompliance::hand_pos_ref_des_

private

arma::vec fog::FingerCompliance::hand_pos_ref_prev_

private

arma::vec fog::FingerCompliance::hand_torque_msr_

private

arma::vec fog::FingerCompliance::hand_vel_cmd_

private

double fog::FingerCompliance::ref_duration_

private

double fog::FingerCompliance::ref_time_

private

arl::utils::Timer fog::FingerCompliance::ref_timer_

private