AdmittanceControllerParams Struct Reference

Struct representing admittance controller parameters. More...

#include <set_admittance_parameters.hpp>

Public Member Functions
std::string	getParamDimensionStr (const size_t idx) const
	Helper function to convert index to a dimension (position or rotation) an axis (x, y, or z). More...
std::string	getParamLimitStr (const double vmin, const double vmax) const
std::string	validateVectorParameter (const std::string &name, const std::vector< double > &vec, const std::pair< double, double > &pos_limits, const std::pair< double, double > &rot_limits) const
	Helper function to validate a 6-element vector admittance parameter. More...
tl::expected< void, std::string >	validate () const
	Validates the numeric parameter values against their limits. More...

Public Attributes
std::string	controller_name = ""
	Name of the controller. More...
std::string	base_frame = ""
	Base frame used for kinematics calculation. More...
std::string	end_effector_frame = ""
	End effector frame used for kinematics calculation. More...
std::string	control_frame = ""
	Admittance control frame. More...
std::vector< bool >	enabled_axes { false, false, false, false, false }
	Enabled admittance axes (x, y, z, rx, ry, rz). More...
std::vector< double >	mass { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
	Admittance control mass (x, y, z, rx, ry, rz), with limits. More...
std::pair< double, double >	mass_position_limits { 0.0, 0.0 }
std::pair< double, double >	mass_rotation_limits { 0.0, 0.0 }
std::vector< double >	stiffness { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
	Admittance control stiffness (x, y, z, rx, ry, rz), with limits. More...
std::pair< double, double >	stiffness_position_limits { 0.0, 0.0 }
std::pair< double, double >	stiffness_rotation_limits { 0.0, 0.0 }
std::vector< double >	damping_ratio { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
	Admittance control damping ratio (x, y, z, rx, ry, rz), with limits. More...
std::pair< double, double >	damping_ratio_position_limits { 0.0, 0.0 }
std::pair< double, double >	damping_ratio_rotation_limits { 0.0, 0.0 }
double	joint_damping = 0.0
	Joint damping used in admittance calculation, with limits. More...
std::pair< double, double >	joint_damping_limits { 0.0, 0.0 }

Detailed Description

Struct representing admittance controller parameters.

Member Function Documentation

getParamDimensionStr()

std::string AdmittanceControllerParams::getParamDimensionStr ( const size_t  idx ) const

inline

Helper function to convert index to a dimension (position or rotation) an axis (x, y, or z).

Parameters

idx	Index number (should be 0 through 6).

Returns

A formatted string such as "rotation x" or "position y".

getParamLimitStr()

std::string AdmittanceControllerParams::getParamLimitStr ( const double  vmin, const double  vmax  ) const

inline

Helper function to convert limits to a printable string.

Parameters

vmin	The minimum value.
vmax	The maximum value.

Returns

A formatted string such in the form "[min - max]".

validate()

tl::expected< void, std::string > AdmittanceControllerParams::validate

(

)

const

Validates the numeric parameter values against their limits.

Returns

Nothing if successful, else an error describing the violated limits.

validateVectorParameter()

std::string AdmittanceControllerParams::validateVectorParameter	(	const std::string &	name,
		const std::vector< double > &	vec,
		const std::pair< double, double > &	pos_limits,
		const std::pair< double, double > &	rot_limits
	)		const

Helper function to validate a 6-element vector admittance parameter.

Parameters

name	The name to use for printing validation messages on this parameter.
vec	The vector containing the parameter values.
pos_limits	The pair containing the position value limits.
rot_limits	The pair containing the rotation value limits.

Returns

A string containing any validation messages to pass to its caller.

Member Data Documentation

base_frame

std::string AdmittanceControllerParams::base_frame = ""

Base frame used for kinematics calculation.

control_frame

std::string AdmittanceControllerParams::control_frame = ""

Admittance control frame.

controller_name

std::string AdmittanceControllerParams::controller_name = ""

Name of the controller.

damping_ratio

std::vector<double> AdmittanceControllerParams::damping_ratio { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }

Admittance control damping ratio (x, y, z, rx, ry, rz), with limits.

damping_ratio_position_limits

std::pair<double, double> AdmittanceControllerParams::damping_ratio_position_limits { 0.0, 0.0 }

damping_ratio_rotation_limits

std::pair<double, double> AdmittanceControllerParams::damping_ratio_rotation_limits { 0.0, 0.0 }

enabled_axes

std::vector<bool> AdmittanceControllerParams::enabled_axes { false, false, false, false, false }

Enabled admittance axes (x, y, z, rx, ry, rz).

end_effector_frame

std::string AdmittanceControllerParams::end_effector_frame = ""

End effector frame used for kinematics calculation.

joint_damping

double AdmittanceControllerParams::joint_damping = 0.0

Joint damping used in admittance calculation, with limits.

joint_damping_limits

std::pair<double, double> AdmittanceControllerParams::joint_damping_limits { 0.0, 0.0 }

mass

std::vector<double> AdmittanceControllerParams::mass { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }

Admittance control mass (x, y, z, rx, ry, rz), with limits.

mass_position_limits

std::pair<double, double> AdmittanceControllerParams::mass_position_limits { 0.0, 0.0 }

mass_rotation_limits

std::pair<double, double> AdmittanceControllerParams::mass_rotation_limits { 0.0, 0.0 }

stiffness

std::vector<double> AdmittanceControllerParams::stiffness { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }

Admittance control stiffness (x, y, z, rx, ry, rz), with limits.

stiffness_position_limits

std::pair<double, double> AdmittanceControllerParams::stiffness_position_limits { 0.0, 0.0 }

stiffness_rotation_limits

std::pair<double, double> AdmittanceControllerParams::stiffness_rotation_limits { 0.0, 0.0 }

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The documentation for this struct was generated from the following files:

• set_admittance_parameters.hpp
• set_admittance_parameters.cpp