robCollaborativeControlForce Class Reference

#include <robCollaborativeControlForce.h>

Classes
class	ParameterType

Public Member Functions
	robCollaborativeControlForce (void)
	robCollaborativeControlForce (double linearGainMaster, double linearGainSlave, double forceLimit, ParameterType::ForceModeType forceMode, double masterToSlaveScale, double forceFeedbackRatio)
	~robCollaborativeControlForce (void)
void	SetParameters (const ParameterType &commandedParameter)
void	Update (const vct3 &p1, const vct3 &p2, const bool ClutchMaster, const bool ClutchSlave, vctFixedSizeVector< double, 6 > &ForceMaster, vctFixedSizeVector< double, 6 > &ForceSlave)

Protected Member Functions
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationMasterClutch)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationSlaveClutch)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationMasterSlaveClutch)
	CMN_DECLARE_MEMBER_AND_ACCESSORS (ParameterType, Parameter)

Protected Attributes
vct3	WorkspaceOffset
vct3	ClutchOffset
vct3	LeftClutchOffset
vct3	RightClutchOffset
vct3	LeftClutchMSOffset
vct3	RightClutchMSOffset
vct3	Error
vct3	p1Goal
vct3	p2Goal
vct3	p1RGoal
vct3	p2RGoal
vct3	p1Clutched
vct3	p2Clutched
vct3	p1R
vct3	p2R
vct3	p1Last
vct3	p2Last
bool	FirstIteration
bool	ClutchDone
bool	BothClutched
bool	ClutchOffsetAdd
int	ClutchMode
double	ForceFeedNormMaster
double	ForceFeedNormSlave
vctFrm3	RelativeTransform

Constructor & Destructor Documentation

robCollaborativeControlForce() [1/2]

robCollaborativeControlForce::robCollaborativeControlForce

(

void

)

robCollaborativeControlForce() [2/2]

robCollaborativeControlForce::robCollaborativeControlForce	(	double	linearGainMaster,
		double	linearGainSlave,
		double	forceLimit,
		ParameterType::ForceModeType	forceMode,
		double	masterToSlaveScale,
		double	forceFeedbackRatio )

~robCollaborativeControlForce()

robCollaborativeControlForce::~robCollaborativeControlForce ( void )

inline

Member Function Documentation

CMN_DECLARE_MEMBER_AND_ACCESSORS() [1/4]

robCollaborativeControlForce::CMN_DECLARE_MEMBER_AND_ACCESSORS ( bool , ApplicationMasterClutch  )

protected

CMN_DECLARE_MEMBER_AND_ACCESSORS() [2/4]

robCollaborativeControlForce::CMN_DECLARE_MEMBER_AND_ACCESSORS ( bool , ApplicationMasterSlaveClutch  )

protected

CMN_DECLARE_MEMBER_AND_ACCESSORS() [3/4]

robCollaborativeControlForce::CMN_DECLARE_MEMBER_AND_ACCESSORS ( bool , ApplicationSlaveClutch  )

protected

CMN_DECLARE_MEMBER_AND_ACCESSORS() [4/4]

robCollaborativeControlForce::CMN_DECLARE_MEMBER_AND_ACCESSORS ( ParameterType , Parameter  )

protected

SetParameters()

void robCollaborativeControlForce::SetParameters

(

const ParameterType &

commandedParameter

)

Set Parameters function takes arguments from the parent class to mutate the values of; Force Limit, Scale Factor Force Coefficient, Force Mode. These values are currently being used by devicesTutorialExample3 GUI via devSensableHDMasterSlave class.

Update()

void robCollaborativeControlForce::Update	(	const vct3 &	p1,
		const vct3 &	p2,
		const bool	ClutchMaster,
		const bool	ClutchSlave,
		vctFixedSizeVector< double, 6 > &	ForceMaster,
		vctFixedSizeVector< double, 6 > &	ForceSlave )

Update function's goal is to carry out position to force control. Two position parameters and two clutch parameters are provided by the parent class. This function uses those positions and the clutch parameters to calculate the desired force values for teleoperation. Designed for Phantom Omni teleoperation, has not been tested on other platforms.

Member Data Documentation

BothClutched

bool robCollaborativeControlForce::BothClutched

protected

ClutchDone

bool robCollaborativeControlForce::ClutchDone

protected

ClutchMode

int robCollaborativeControlForce::ClutchMode

protected

ClutchOffset

vct3 robCollaborativeControlForce::ClutchOffset

protected

ClutchOffsetAdd

bool robCollaborativeControlForce::ClutchOffsetAdd

protected

Error

vct3 robCollaborativeControlForce::Error

protected

FirstIteration

bool robCollaborativeControlForce::FirstIteration

protected

ForceFeedNormMaster

double robCollaborativeControlForce::ForceFeedNormMaster

protected

ForceFeedNormSlave

double robCollaborativeControlForce::ForceFeedNormSlave

protected

LeftClutchMSOffset

vct3 robCollaborativeControlForce::LeftClutchMSOffset

protected

LeftClutchOffset

vct3 robCollaborativeControlForce::LeftClutchOffset

protected

p1Clutched

vct3 robCollaborativeControlForce::p1Clutched

protected

p1Goal

vct3 robCollaborativeControlForce::p1Goal

protected

p1Last

vct3 robCollaborativeControlForce::p1Last

protected

p1R

vct3 robCollaborativeControlForce::p1R

protected

p1RGoal

vct3 robCollaborativeControlForce::p1RGoal

protected

p2Clutched

vct3 robCollaborativeControlForce::p2Clutched

protected

p2Goal

vct3 robCollaborativeControlForce::p2Goal

protected

p2Last

vct3 robCollaborativeControlForce::p2Last

protected

p2R

vct3 robCollaborativeControlForce::p2R

protected

p2RGoal

vct3 robCollaborativeControlForce::p2RGoal

protected

RelativeTransform

vctFrm3 robCollaborativeControlForce::RelativeTransform

protected

RightClutchMSOffset

vct3 robCollaborativeControlForce::RightClutchMSOffset

protected

RightClutchOffset

vct3 robCollaborativeControlForce::RightClutchOffset

protected

WorkspaceOffset

vct3 robCollaborativeControlForce::WorkspaceOffset

protected

Parameters being used by the Update function for teleoperation

vct3 declarations include the offsets for the workspace, clutch overall, clutch left and right, and the goals for first and second device.

Other declarations(bool, double) are mostly used to manipulate the above mentioned data, such as temporary booleans, scale factor, force limit, etc.

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

• tmp/cisst-saw/cisst/cisstRobot/robCollaborativeControlForce.h