CartesianImpedanceController Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericTorqueControllers.h>

Implements Cartesian impedance with respect to the commanded motion. More...

Inheritance diagram for CartesianImpedanceController:

Detailed Description

Implements Cartesian impedance with respect to the commanded motion.

Adjusted to apply stiffness with respect to the commanded position, and not only the starting one, so that can be used with a motion generator

Classes
struct	Parameters

Public Member Functions
	CartesianImpedanceController (std::unique_ptr< Parameters > params, DynamicsInterface &modelInterface)
MotionStep< JointTorques >	operator() (const ControlIterationInfo &controlIterationInfo, const isom3 &world_T_base_desired) override
Public Member Functions inherited from CartesianSetpointTorqueController
	CartesianSetpointTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
Public Member Functions inherited from TorqueControllerBase
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, std::unique_ptr< DynamicsInterface > ownedModelInterface)
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
bool	init (const RobotState &state)
TorqueControllerParametersInterface *	parameters ()
template<typename ParametersType>
ParametersType *	typedParameters ()

Protected Member Functions
bool	initImpl () override

Protected Attributes
std::unique_ptr< Impl >	m_pimpl
Protected Attributes inherited from TorqueControllerBase
bool	m_inited = false
size_t	m_numberOfJoints = 0
std::unique_ptr< const RobotState >	m_initState
std::unique_ptr< TorqueControllerParametersInterface >	m_parameters
std::unique_ptr< DynamicsInterface >	m_ownedModelInterface
DynamicsInterface &	m_dynamicsInterface

Member Function Documentation

operator()()

MotionStep< JointTorques > operator() ( const ControlIterationInfo & controlIterationInfo, const isom3 & world_T_base_desired )

overridevirtual

Implements CartesianSetpointTorqueController.

initImpl()

bool initImpl ( )

overrideprotectedvirtual

Implements TorqueControllerBase.

---

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

• RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericTorqueControllers.h