#include <osaGravityCompensation.h>

Inheritance diagram for osaGravityCompensation:

Public Types
enum	Errno { ESUCCESS, EFAILURE }

Public Types inherited from robManipulator
enum	Errno { ESUCCESS, EFAILURE }

enum	LinkID { L0, L1, L2, L3, L4, L5, L6, L7, L8, L9, LN }

Public Member Functions
	osaGravityCompensation (const std::string &robfile, const vctFrame4x4< double > &Rtwb)
	Main constructor. More...

osaGravityCompensation::Errno	Evaluate (const vctDynamicVector< double > &q, vctDynamicVector< double > &tau)
	Evaluate the control law. More...

Public Member Functions inherited from robManipulator
robManipulator::Errno	LoadRobot (const std::string &linkfile)
	Load the kinematics and the dynamics of the robot. More...

robManipulator::Errno	LoadRobot (std::vector< robKinematics * > KinParms)

void	JacobianBody (const vctDynamicVector< double > &q) const
	Evaluate the body Jacobian. More...

bool	JacobianBody (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const
	Evaluate the body Jacobian and return it in the dynamic matrix J. More...

void	JacobianSpatial (const vctDynamicVector< double > &q) const
	Evaluate the spatial Jacobian. More...

bool	JacobianSpatial (const vctDynamicVector< double > &q, vctDynamicMatrix< double > &J) const
	Evaluate the spatial Jacobian and return it in the dynamic matrix J. More...

vctDynamicVector< double >	RNE (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd, const vctFixedSizeVector< double, 6 > &f, double g=9.81) const
	Recursive Newton-Euler altorithm. More...

vctDynamicVector< double >	CCG (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
	Coriolis/centrifugal and gravity. More...

vctFixedSizeVector< double, 6 >	BiasAcceleration (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd) const
	End-effector accelerations. More...

void	JSinertia (double **A, const vctDynamicVector< double > &q) const
	Compute the NxN manipulator inertia matrix. More...

vctDynamicMatrix< double >	JSinertia (const vctDynamicVector< double > &q) const

void	OSinertia (double Ac[6][6], const vctDynamicVector< double > &q) const
	Compute the 6x6 manipulator inertia matrix in operation space. More...

vctFixedSizeMatrix< double, 4, 4 >	SE3Difference (const vctFrame4x4< double > &Rt1, const vctFrame4x4< double > &Rt2) const

void	AddIdentificationColumn (vctDynamicMatrix< double > &J, vctFixedSizeMatrix< double, 4, 4 > &delRt) const

	robManipulator (const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())

	robManipulator (const std::string &robotfilename, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())
	Manipulator generic constructor. More...

	robManipulator (const std::vector< robKinematics * > linkParms, const vctFrame4x4< double > &Rtw0=vctFrame4x4< double >())

virtual	~robManipulator ()
	Manipulator destructor. More...

virtual vctFrame4x4< double >	ForwardKinematics (const vctDynamicVector< double > &q, int N=-1) const
	Evaluate the forward kinematics. More...

virtual robManipulator::Errno	InverseKinematics (vctDynamicVector< double > &q, const vctFrame4x4< double > &Rts, double tolerance=1e-12, size_t Niteration=1000, double LAMBDA=0.001)
	Evaluate the inverse kinematics. More...

virtual robManipulator::Errno	InverseKinematics (vctDynamicVector< double > &q, const vctFrm3 &Rts, double tolerance=1e-12, size_t Niteration=1000)

virtual void	NormalizeAngles (vctDynamicVector< double > &q)
	Normalize angles to -pi to pi. More...

virtual vctDynamicVector< double >	InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctDynamicVector< double > &qdd) const
	Inverse dynamics in joint space. More...

virtual vctDynamicVector< double >	InverseDynamics (const vctDynamicVector< double > &q, const vctDynamicVector< double > &qd, const vctFixedSizeVector< double, 6 > &vdwd) const
	Inverse dynamics in operation space. More...

virtual vctDynamicMatrix< double >	JacobianKinematicsIdentification (const vctDynamicVector< double > &q, double epsilon=1e-6) const
	Compute Jacobian for kinematics identification. More...

void	PrintKinematics (std::ostream &os) const
	Print the kinematics parameters to the specified output stream. More...

virtual void	Attach (robManipulator *tool)
	Attach a tool. More...

Additional Inherited Members
Public Attributes inherited from robManipulator
vctFrame4x4< double >	Rtw0
	Position and orientation of the first link. More...

double **	Jn
	Body Jacobian. More...

double **	Js
	Spatial Jacobian. More...

std::vector< robLink >	links
	A vector of links. More...

Protected Attributes inherited from robManipulator
std::vector< robManipulator * >	tools
	A vector of tools. More...

Member Enumeration Documentation

enum osaGravityCompensation::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

osaGravityCompensation::osaGravityCompensation	(	const std::string &	robfile,
		const vctFrame4x4< double > &	Rtwb
	)

Main constructor.

Parameters

[in]	robfilename	File containing the kinematics and dynamics parameters
[in]	Rtwb	Position and orientation of the robot with resepct to world frame

Member Function Documentation

osaGravityCompensation::Errno osaGravityCompensation::Evaluate	(	const vctDynamicVector< double > &	q,
		vctDynamicVector< double > &	tau
	)

Evaluate the control law.

Parameters

[in]	qs	Desired joint positions
[out]	tau	Joint forces/torques

Returns: ESUCCESS if the evaluation was successful. EFAILURE otherwise

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawControllers/include/sawControllers/osaGravityCompensation.h

Public Types

Public Member Functions

Additional Inherited Members

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation