TorqueControllerBase Class Reference

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

Base class for generic robot controllers. More...

Inheritance diagram for TorqueControllerBase:

Detailed Description

Base class for generic robot controllers.

A TorqueController must generate the commanded joint motor torques, given the current robot state.

Typically, the controller will follow the commanded pose (joint-level or Cartesian) coming from a MotionGenerator, which determines the trajectory that the robot should follow. The controller adapts the trajectory to the environment (hence, the measured robot pose can deviate from the commanded one).

Note

The output of the controller must satisfy the requirements described in the robot documentation, or the robot will refuse to move!

Public Member Functions
	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
virtual bool	initImpl ()=0

Protected Attributes
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

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

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