PlanarCartesianImpedanceController Class Reference

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

Implements Cartesian impedance on a plane of the given frame. More...

Inheritance diagram for PlanarCartesianImpedanceController:

Detailed Description

Implements Cartesian impedance on a plane of the given frame.

A much smaller stiffness is still applied on the normal axis, for numerical stability

Classes
struct	Parameters

Public Member Functions
	PlanarCartesianImpedanceController (std::unique_ptr< Parameters > params, DynamicsInterface &modelInterface)
MotionStep< JointTorques >	operator() (const ControlIterationInfo &controlIterationInfo, const isom3 &setpoint) 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_impl
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 & setpoint )

overridevirtual

Implements CartesianSetpointTorqueController.

initImpl()

bool initImpl ( )

overrideprotectedvirtual

Implements TorqueControllerBase.

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

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