fog::ReachFGSBeta Class Reference

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

#include <fog/reach_fgs_beta.h>

Inheritance diagram for fog::ReachFGSBeta:

Collaboration diagram for fog::ReachFGSBeta:

Public Member Functions
	ReachFGSBeta (const std::shared_ptr< arl::robot::Robot > &arm, const std::shared_ptr< arl::robot::Robot > &hand, const std::shared_ptr< arl::viz::RosStatePublisher > &viz, const std::shared_ptr< arl::robot::Controller > &finger_compliance)

Protected Member Functions
void	measure ()
void	update ()
void	command ()
void	init ()
bool	stop ()

Private Member Functions
arma::vec	multiplyPoseVector (const arma::mat &pose, const arma::vec &position)
arma::vec	updateArmWithClik (const arma::vec &linear_vel)

Private Attributes
std::shared_ptr < arl::robot::Robot >	hand_
std::shared_ptr < arl::viz::RosStatePublisher >	viz_
arma::vec	arm_position_
arma::mat	arm_orientation_
arma::mat	arm_pose_
arma::mat	arm_jac_
arma::vec	arm_jnt_vel_
arma::vec	arm_task_vel_
arl::math::Clik	clik_
unsigned int	arm_control_strategy_
arma::vec	hand_vel_msr_
std::shared_ptr < arl::robot::Controller >	finger_compliance_
double	norm_hand_vel_msr_prev_
arma::vec	initial_hand_position_
arma::mat	initial_hand_orientation_
arma::vec	hand_position_
arma::mat	hand_orientation_

Detailed Description

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

Constructor & Destructor Documentation

fog::ReachFGSBeta::ReachFGSBeta	(	const std::shared_ptr< arl::robot::Robot > &	arm,
		const std::shared_ptr< arl::robot::Robot > &	hand,
		const std::shared_ptr< arl::viz::RosStatePublisher > &	viz,
		const std::shared_ptr< arl::robot::Controller > &	finger_compliance
	)

Member Function Documentation

void fog::ReachFGSBeta::command ( )

protected

void fog::ReachFGSBeta::init ( )

protected

Initialize CLIK for the arm

Set the robot arma to velocity control

void fog::ReachFGSBeta::measure ( )

protected

arma::vec fog::ReachFGSBeta::multiplyPoseVector ( const arma::mat &  pose, const arma::vec &  position  )

private

bool fog::ReachFGSBeta::stop ( )

protected

void fog::ReachFGSBeta::update ( )

protected

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arma::vec fog::ReachFGSBeta::updateArmWithClik ( const arma::vec &  linear_vel )

private

Function that calculates the projection/rotation of the vector next_command to the plain defined by V (vector from wrist to object) and Z (the Z axis of the object frame)

Member Data Documentation

unsigned int fog::ReachFGSBeta::arm_control_strategy_

private

arma::mat fog::ReachFGSBeta::arm_jac_

private

arma::vec fog::ReachFGSBeta::arm_jnt_vel_

private

arma::mat fog::ReachFGSBeta::arm_orientation_

private

arma::mat fog::ReachFGSBeta::arm_pose_

private

arma::vec fog::ReachFGSBeta::arm_position_

private

arma::vec fog::ReachFGSBeta::arm_task_vel_

private

arl::math::Clik fog::ReachFGSBeta::clik_

private

std::shared_ptr<arl::robot::Controller> fog::ReachFGSBeta::finger_compliance_

private

std::shared_ptr<arl::robot::Robot> fog::ReachFGSBeta::hand_

private

arma::mat fog::ReachFGSBeta::hand_orientation_

private

arma::vec fog::ReachFGSBeta::hand_position_

private

arma::vec fog::ReachFGSBeta::hand_vel_msr_

private

arma::mat fog::ReachFGSBeta::initial_hand_orientation_

private

arma::vec fog::ReachFGSBeta::initial_hand_position_

private

double fog::ReachFGSBeta::norm_hand_vel_msr_prev_

private

std::shared_ptr<arl::viz::RosStatePublisher> fog::ReachFGSBeta::viz_

private