osaPDGC Class Reference

#include <osaPDGC.h>

Inheritance diagram for osaPDGC:

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
	osaPDGC (const std::string &robfilename, const vctFrame4x4< double > &Rtwb, const vctDynamicMatrix< double > &Kp, const vctDynamicMatrix< double > &Kd, const vctDynamicVector< double > &qinit)
	Main constructor. More...
osaPDGC::Errno	Evaluate (const vctDynamicVector< double > &qs, const vctDynamicVector< double > &q, vctDynamicVector< double > &tau, double dt)
	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 osaPDGC::Errno

Enumerator
ESUCCESS
EFAILURE

Constructor & Destructor Documentation

osaPDGC::osaPDGC	(	const std::string &	robfilename,
		const vctFrame4x4< double > &	Rtwb,
		const vctDynamicMatrix< double > &	Kp,
		const vctDynamicMatrix< double > &	Kd,
		const vctDynamicVector< double > &	qinit
	)

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
[in]	Kp	NxN matrix of proportional gains
[in]	Kd	NxN matrix of derivative gains
[in]	qinit	Initial joint positions

Member Function Documentation

osaPDGC::Errno osaPDGC::Evaluate	(	const vctDynamicVector< double > &	qs,
		const vctDynamicVector< double > &	q,
		vctDynamicVector< double > &	tau,
		double	dt
	)

Evaluate the control law.

Parameters

[in]	qs	Desired joint positions
[in]	q	Current joint positions
[out]	tau	Joint forces/torques
	dt	Time interval

Returns

ESUCCESS if the evaluation was successful. EFAILURE otherwise

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

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