fog::ReachFGSAlpha Class Reference

A class that implements the controller for reaching the FGS state for the strategy- . It closes the fingers. More...

#include <fog/reach_fgs_alpha.h>

Inheritance diagram for fog::ReachFGSAlpha:

Collaboration diagram for fog::ReachFGSAlpha:

Public Member Functions
	ReachFGSAlpha (const std::shared_ptr< arl::robot::Robot > &arm, const std::shared_ptr< arl::robot::Robot > &hand, const std::shared_ptr< fog::FingerCompliance > &finger_complianc)
void	init ()
void	update ()
void	command ()
bool	stop ()
void	measure ()

Public Attributes
bool	reached_pgs

Private Member Functions
Eigen::VectorXd	cartesianImpedance ()
void	trajectoryInZ ()

Private Attributes
unsigned int	arm_nr_joints
std::shared_ptr < arl::robot::Robot >	hand
Eigen::Vector3d	arm_current_position
Eigen::Vector3d	arm_ref_position
Eigen::Matrix3d	arm_current_orientation
Eigen::Matrix3d	arm_ref_orientation
Eigen::Quaterniond	arm_current_quaternion
Eigen::Quaterniond	arm_ref_quaternion
Eigen::Quaterniond	arm_error_quaternion
Eigen::Matrix< double, 6, 1 >	stiffness
Eigen::Matrix< double, 6, 1 >	damping
Eigen::VectorXd	arm_current_velocity
Eigen::VectorXd	arm_ref_velocity
Eigen::VectorXd	arm_commanded_torques
Eigen::MatrixXd	arm_jac
arma::mat	pose_desired_
arma::vec	task_position_
arma::mat	task_orientation_
arma::vec	task_quaternion_
arma::vec	commanded_wrench_
arma::vec	msr_velocity_arm
double	threshold_velocity_norm_arm
bool	first_time
bool	second_time
arl::primitive::Trajectory < double >	trajectory
arl::primitive::Trajectory < double >	trajectory_fingers
double	sum
std::shared_ptr < fog::FingerCompliance >	finger_compliance
double	final_z
double	final_z_2

Detailed Description

A class that implements the controller for reaching the FGS state for the strategy- . It closes the fingers.

Constructor & Destructor Documentation

fog::ReachFGSAlpha::ReachFGSAlpha ( const std::shared_ptr< arl::robot::Robot > &  arm, const std::shared_ptr< arl::robot::Robot > &  hand, const std::shared_ptr< fog::FingerCompliance > &  finger_complianc  )

explicit

Member Function Documentation

Eigen::VectorXd fog::ReachFGSAlpha::cartesianImpedance ( )

private

void fog::ReachFGSAlpha::command

(

)

void fog::ReachFGSAlpha::init

(

)

void fog::ReachFGSAlpha::measure

(

)

bool fog::ReachFGSAlpha::stop

(

)

void fog::ReachFGSAlpha::trajectoryInZ ( )

private

void fog::ReachFGSAlpha::update

(

)

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Member Data Documentation

Eigen::VectorXd fog::ReachFGSAlpha::arm_commanded_torques

private

Eigen::Matrix3d fog::ReachFGSAlpha::arm_current_orientation

private

Eigen::Vector3d fog::ReachFGSAlpha::arm_current_position

private

Eigen::Quaterniond fog::ReachFGSAlpha::arm_current_quaternion

private

Eigen::VectorXd fog::ReachFGSAlpha::arm_current_velocity

private

Eigen::Quaterniond fog::ReachFGSAlpha::arm_error_quaternion

private

Eigen::MatrixXd fog::ReachFGSAlpha::arm_jac

private

unsigned int fog::ReachFGSAlpha::arm_nr_joints

private

Eigen::Matrix3d fog::ReachFGSAlpha::arm_ref_orientation

private

Eigen::Vector3d fog::ReachFGSAlpha::arm_ref_position

private

Eigen::Quaterniond fog::ReachFGSAlpha::arm_ref_quaternion

private

Eigen::VectorXd fog::ReachFGSAlpha::arm_ref_velocity

private

arma::vec fog::ReachFGSAlpha::commanded_wrench_

private

Eigen::Matrix<double, 6, 1> fog::ReachFGSAlpha::damping

private

double fog::ReachFGSAlpha::final_z

private

double fog::ReachFGSAlpha::final_z_2

private

std::shared_ptr<fog::FingerCompliance> fog::ReachFGSAlpha::finger_compliance

private

bool fog::ReachFGSAlpha::first_time

private

std::shared_ptr<arl::robot::Robot> fog::ReachFGSAlpha::hand

private

arma::vec fog::ReachFGSAlpha::msr_velocity_arm

private

arma::mat fog::ReachFGSAlpha::pose_desired_

private

bool fog::ReachFGSAlpha::reached_pgs

bool fog::ReachFGSAlpha::second_time

private

Eigen::Matrix<double, 6, 1> fog::ReachFGSAlpha::stiffness

private

double fog::ReachFGSAlpha::sum

private

arma::mat fog::ReachFGSAlpha::task_orientation_

private

arma::vec fog::ReachFGSAlpha::task_position_

private

arma::vec fog::ReachFGSAlpha::task_quaternion_

private

double fog::ReachFGSAlpha::threshold_velocity_norm_arm

private

arl::primitive::Trajectory<double> fog::ReachFGSAlpha::trajectory

private

arl::primitive::Trajectory<double> fog::ReachFGSAlpha::trajectory_fingers

private