mtsVFFollow Class Reference

Calculate joint angles that take the robot from the current position and orientation to a desired one. More...

#include <mtsVFFollow.h>

Inheritance diagram for mtsVFFollow:

Public Member Functions
	mtsVFFollow ()
	mtsVFFollow (const std::string &name, mtsVFDataBase *data)
void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)
	Updates co with virtual fixture data.
Public Member Functions inherited from mtsVFJointPosition
	mtsVFJointPosition ()
	mtsVFJointPosition (const std::string &name, mtsVFDataBase *data)
void	FillInTableauRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)
	Updates co with virtual fixture data.
void	ConvertRefs (const mtsVFBase::CONTROLLERMODE mode, const double TickTime)
	Converts the data in the references if a change in mode is needed.
Public Member Functions inherited from mtsVFBase
	mtsVFBase ()
	mtsVFBase (const std::string &name, mtsVFDataBase *data)
	~mtsVFBase ()
virtual void	ComputeConstraintSize ()
void	ReserveSpace (nmrConstraintOptimizer &co)
	Reserves space in the control optimizer.
void	LookupStateData (const std::map< std::string, prmKinematicsState * > &k, const std::map< std::string, prmSensorState * > &s)
	Updates internal state data.
void	SetTableauRefs (nmrConstraintOptimizer &co)
	Updates internal references with co tableau.
vctDoubleMat	Skew (const vctDoubleVec &in)
virtual void	AssignRefs (const mtsVFBase::CONTROLLERMODE, const double, const vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &, vctDoubleMat &, vctDoubleVec &)
Public Member Functions inherited from mtsGenericObject
	mtsGenericObject (void)
	mtsGenericObject (double timestamp, bool automaticTimestamp, bool valid)
	mtsGenericObject (const mtsGenericObject &other)
virtual	~mtsGenericObject (void)
mtsGenericObject &	operator= (const mtsGenericObject &other)
bool	SetTimestampIfAutomatic (double timestamp)
virtual void	ToStream (std::ostream &outputStream) const
virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter=' ', bool headerOnly=false, const std::string &headerPrefix="") const
virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter=' ')
virtual void	SerializeRaw (std::ostream &outputStream) const
virtual void	DeSerializeRaw (std::istream &inputStream)
size_t	ScalarNumber (void) const
bool	ScalarNumberIsFixed (void) const
Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)
virtual const cmnClassServicesBase *	Services (void) const =0
bool	ReconstructFrom (const cmnGenericObject &other)
std::string	ToString (void) const
virtual cmnLogger::StreamBufType *	GetLogMultiplexer (void) const
virtual double	Scalar (const size_t CMN_UNUSED(index)) const CISST_THROW(std
virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Public Attributes
prmKinematicsState *	CurrentKinematics
prmKinematicsState *	DesiredKinematics
Public Attributes inherited from mtsVFBase
std::string	Name
	Name of the virtual fixture.
mtsVFDataBase *	Data
	Internally stored data.
std::vector< prmKinematicsState * >	Kinematics
	Frame object.
std::vector< prmSensorState * >	Sensors
	Sensor object.
vctDoubleVec	DOFSelections
vctDynamicMatrixRef< double >	ObjectiveMatrixRef
	Objective data reference.
vctDynamicMatrixRef< double >	ObjectiveMatrixSlackRef
	Objective slack reference.
vctDynamicVectorRef< double >	ObjectiveVectorRef
	Objective vector reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixRef
	Inequality constraint data reference.
vctDynamicMatrixRef< double >	IneqConstraintMatrixSlackRef
	Inequality constraint slack reference.
vctDynamicVectorRef< double >	IneqConstraintVectorRef
	Inequality constraint vector reference.
vctDynamicVectorRef< double >	IneqConstraintVectorSlackRef
	Inequality constraint slack reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixRef
	Equality constraint data reference.
vctDynamicMatrixRef< double >	EqConstraintMatrixSlackRef
	Equality constraint slack reference.
vctDynamicVectorRef< double >	EqConstraintVectorRef
	Equality constraint vector reference.

Additional Inherited Members
Public Types inherited from mtsVFBase
enum	CONTROLLERMODE { JPOS = 1 , JVEL = 2 , CARTPOS = 3 , CARTVEL = 4 }
Static Public Attributes inherited from mtsVFBase
static std::string	DefaultKinematicsName

Detailed Description

Calculate joint angles that take the robot from the current position and orientation to a desired one.

This is useful for having the arm follow a path, particularly one that leads the end effector slightly at each instant to indicate the new destination.

fill in refs min || J*dq - [v_T ; v_R] || v_T = p_des - R_des * R^(-1)_cur * p_cur v_R = sk(A)^(-1) * A - sk(A)^(-1) * R_des * R^(-1)_cur * A J is the jacobian, p_des is the desired frame's translation, R_des is the desired frame's rotation, R^(-1)_cur is the inverse of the current frame's rotation, p_cur is the current frame's translation, A is an arbitrary vector, sk(A)^(-1) is the inverse of the skew matrix of A

The goal is constructing the dx parameter which contains: [x, y, z, rx*theta, ry*theta, rz*theta] This is the same xdot format output by J*qdot that way we try to make xdot - J*qdot == [0,0,0,0,0,0].transpose() which means that you've found the joint angles that will put you at exactly the desired position and rotation

Constructor & Destructor Documentation

mtsVFFollow() [1/2]

mtsVFFollow::mtsVFFollow ( )

inline

Constructor

mtsVFFollow() [2/2]

mtsVFFollow::mtsVFFollow ( const std::string & name, mtsVFDataBase * data )

inline

Constructor

Parameters

name	String name of object

Member Function Documentation

FillInTableauRefs()

void mtsVFFollow::FillInTableauRefs ( const mtsVFBase::CONTROLLERMODE mode, const double TickTime )

virtual

Updates co with virtual fixture data.

FillInTableauRefs

Implements mtsVFBase.

Member Data Documentation

CurrentKinematics

prmKinematicsState* mtsVFFollow::CurrentKinematics

DesiredKinematics

prmKinematicsState* mtsVFFollow::DesiredKinematics

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

• tmp/cisst-saw/sawConstraintController/components/include/sawConstraintController/mtsVFFollow.h