control::PlanarArmController< N > Class Template Reference

Controller to move planar arm to a target end effector position. More...

#include <PlanarArmController.h>

Public Member Functions
	PlanarArmController (const kinematics::ArmKinematics< 2, N > &kin_obj, const double safetyFactor)
	Construct a new controller object.
	PlanarArmController (PlanarArmController &&other)
	Constructs a copy of an existing PlanarArmController object.
bool	tryInitController (const navtypes::Vectord< N > &currJointPos)
	Instantiates the PlanarArmController with the current joint positions, returning true if the joint positions are valid.
const kinematics::ArmKinematics< 2, N > &	kinematics () const
void	set_setpoint (const navtypes::Vectord< N > &targetJointPos)
	Sets the end effector setpoint / target position.
Eigen::Vector2d	get_setpoint (robot::types::datatime_t currTime)
	Gets the current end effector setpoint / target position.
void	set_x_vel (robot::types::datatime_t currTime, double targetVel, const navtypes::Vectord< N > &jointPos)
	Sets the x velocity for the end effector and returns the new command.
void	set_y_vel (robot::types::datatime_t currTime, double targetVel, const navtypes::Vectord< N > &jointPos)
	Sets the y velocity for the end effector and returns the new command.
navtypes::Vectord< N >	getCommand (robot::types::datatime_t currTime, const navtypes::Vectord< N > &currJointPos)
	Get the current command for the arm.

Static Public Member Functions
static bool	is_setpoint_valid (const navtypes::Vectord< N > &targetJointPos, kinematics::ArmKinematics< 2, N > kin_obj, double safetyFactor)
	Returns whether the target joint positions are within the arm controller's radius limit.

Detailed Description

template<unsigned int N>
class control::PlanarArmController< N >

Controller to move planar arm to a target end effector position.

This class is thread-safe.

Template Parameters

N	The number of arm joints.

Constructor & Destructor Documentation

PlanarArmController() [1/2]

template<unsigned int N>

control::PlanarArmController< N >::PlanarArmController ( const kinematics::ArmKinematics< 2, N > & kin_obj, const double safetyFactor )

inline

Construct a new controller object.

Parameters

currJointPos	The current joint positions of the arm.
kin_obj	ArmKinematics object for the arm (should have the same number of arm joints).
safetyFactor	the percentage factor to scale maximum arm extension radius by to prevent singularity lock. Must be in range (0, 1).

PlanarArmController() [2/2]

template<unsigned int N>

control::PlanarArmController< N >::PlanarArmController ( PlanarArmController< N > && other )

inline

Constructs a copy of an existing PlanarArmController object.

Parameters

other

The existing PlanarArmController to copy.

Member Function Documentation

get_setpoint()

template<unsigned int N>

Eigen::Vector2d control::PlanarArmController< N >::get_setpoint ( robot::types::datatime_t currTime )

inline

Gets the current end effector setpoint / target position.

Parameters

currTime

The current timestamp.

Returns

The target end effector position.

getCommand()

template<unsigned int N>

navtypes::Vectord< N > control::PlanarArmController< N >::getCommand ( robot::types::datatime_t currTime, const navtypes::Vectord< N > & currJointPos )

inline

Get the current command for the arm.

Parameters

currTime	The current timestamp.
currJointPos	The current joint positions.

Returns

The new command, which is the new joint positions to get to the new target end effector position.

is_setpoint_valid()

template<unsigned int N>

static bool control::PlanarArmController< N >::is_setpoint_valid ( const navtypes::Vectord< N > & targetJointPos, kinematics::ArmKinematics< 2, N > kin_obj, double safetyFactor )

inlinestatic

Returns whether the target joint positions are within the arm controller's radius limit.

Parameters

targetJointPos

The target joint positions.

Returns

whether the target joint positions are within the arm controller's radius limit.

set_setpoint()

template<unsigned int N>

void control::PlanarArmController< N >::set_setpoint ( const navtypes::Vectord< N > & targetJointPos )

inline

Sets the end effector setpoint / target position.

Parameters

targetJointPos

The target joint positions.

set_x_vel()

template<unsigned int N>

void control::PlanarArmController< N >::set_x_vel ( robot::types::datatime_t currTime, double targetVel, const navtypes::Vectord< N > & jointPos )

inline

Sets the x velocity for the end effector and returns the new command.

Parameters

currTime	The current timestamp.
targetVel	The target x velocity.
jointPos	The current joint angles of the arm.

Returns

The new command, which is the new joint positions.

set_y_vel()

template<unsigned int N>

void control::PlanarArmController< N >::set_y_vel ( robot::types::datatime_t currTime, double targetVel, const navtypes::Vectord< N > & jointPos )

inline

Sets the y velocity for the end effector and returns the new command.

Parameters

currTime	The current timestamp.
targetVel	The target y velocity.
jointPos	The current joint angles of the arm.

Returns

The new command, which is the new joint positions.

tryInitController()

template<unsigned int N>

bool control::PlanarArmController< N >::tryInitController ( const navtypes::Vectord< N > & currJointPos )

inline

Instantiates the PlanarArmController with the current joint positions, returning true if the joint positions are valid.

If PlanarArmController is already initialized, the PlanarArmController is reinitialized with the supplied positions and this function returns true. Otherwise, controller gets uninitialized and function returns false.

Parameters

currJointPos

The current joint positions of the arm.

Returns

true iff the joint positions are within the robot's maximum arm extension radius and the controller was successfully initialized in the function call.

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

• src/control/PlanarArmController.h