control::JacobianPosController< outputDim, inputDim > Class Template Reference

This class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics. More...

#include <JacobianPosController.h>

Public Member Functions
	JacobianPosController (const std::function< navtypes::Vectord< outputDim >(const navtypes::Vectord< inputDim > &)> &kinematicsFunc, const std::function< navtypes::Matrixd< outputDim, inputDim >(const navtypes::Vectord< inputDim > &)> &jacobianFunc, double maxVel, double maxAccel)
	Construct a new controller.
navtypes::Vectord< inputDim >	getCommand (robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > &currPos) const
	Get the current command position in the input space.
navtypes::Vectord< inputDim >	getCommand (robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > &currPos, double &cosineSim) const
	Get the current command position in the input space.
void	setTarget (robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > &currPos, const navtypes::Vectord< outputDim > &target)
	Set the target position of the controller.
bool	hasTarget () const
	Check if a target has been set.
void	reset ()
	Reset the controller, unsetting the target.

Detailed Description

template<int outputDim, int inputDim>
class control::JacobianPosController< outputDim, inputDim >

This class controls the position of a multidimensional mechanism with a trapezoidal velocity profile using the jacobian of the kinematics.

Note that the jacobian matrix is of dimension outputDim x inputDim

Template Parameters

outputDim	The dimension of the output vector of the kinematic function.
inputDim	The dimension of the input vector of the kinematic function.

See also

https://en.wikipedia.org/wiki/Jacobian_matrix_and_determinant

Constructor & Destructor Documentation

JacobianPosController()

template<int outputDim, int inputDim>

control::JacobianPosController< outputDim, inputDim >::JacobianPosController ( const std::function< navtypes::Vectord< outputDim >(const navtypes::Vectord< inputDim > &)> & kinematicsFunc, const std::function< navtypes::Matrixd< outputDim, inputDim >(const navtypes::Vectord< inputDim > &)> & jacobianFunc, double maxVel, double maxAccel )

inline

Construct a new controller.

Parameters

kinematicsFunc	The kinematics of the mechanism being controlled. This is a function that takes in some input vector (ex: joint angles of an arm) and outputs another vector (ex: the 3d pose of the hand)
jacobianFunc	The jacobian of the kinematic function.
maxVels	The maximum velocity in the output space of the kinematic function.
maxAccels	The maximum acceleration in the output space of the kinematic function.

Member Function Documentation

getCommand() [1/2]

template<int outputDim, int inputDim>

navtypes::Vectord< inputDim > control::JacobianPosController< outputDim, inputDim >::getCommand ( robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > & currPos ) const

inline

Get the current command position in the input space.

Parameters

currTime	The current timestamp.
currPos	The current position, in the input space.

Returns

navtypes::Vectord<inputDim> The target position, in the input space of the kinematic function. Returns the current position if no target is set.

getCommand() [2/2]

template<int outputDim, int inputDim>

navtypes::Vectord< inputDim > control::JacobianPosController< outputDim, inputDim >::getCommand ( robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > & currPos, double & cosineSim ) const

inline

Get the current command position in the input space.

Parameters

	currTime	The current timestamp.
	currPos	The current position, in the input space.
[out]	cosineSim	Output parameter, gives the cosine similarity of the delta to the returned target and the delta to the commanded target. This similarity may be low if the kinematics of the mechanism do not allow it to move in the commanded direction. May be NaN if stuck in singularity point, in which case the command is the current position.

Returns

navtypes::Vectord<inputDim> The target position, in the input space of the kinematic function. Returns the current position if no target is set.

hasTarget()

template<int outputDim, int inputDim>

bool control::JacobianPosController< outputDim, inputDim >::hasTarget ( ) const

inline

Check if a target has been set.

Returns

bool True iff a target has been set.

setTarget()

template<int outputDim, int inputDim>

void control::JacobianPosController< outputDim, inputDim >::setTarget ( robot::types::datatime_t currTime, const navtypes::Vectord< inputDim > & currPos, const navtypes::Vectord< outputDim > & target )

inline

Set the target position of the controller.

Parameters

currTime	The current timestamp.
currPos	The current position in the input space.
target	The target position in the output space.

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

• src/control/JacobianPosController.h