A Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body. More...

#include <BodyController.hpp>

Inherits Controller, and SimulatedController.

Public Types
typedef rw::core::Ptr< BodyController >	Ptr
	Smart pointer type to this class.

Public Types inherited from Controller
typedef rw::core::Ptr< Controller >	Ptr
	smart poiner definition for controller

Public Types inherited from SimulatedController
typedef rw::core::Ptr< SimulatedController >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	BodyController (const std::string &name)
	Construct new controller. More...

virtual	~BodyController ()
	Destructor.

void	setTarget (rw::core::Ptr< rwsim::dynamics::Body > body, const rw::math::Transform3D<> &target, const rw::kinematics::State &state, double maxLinVel=0.5, double maxLinAcc=1.0, double maxAngVel=0.4, double maxAngAcc=1.0)
	Sets the target transform of a body. The target is defined in world frame. More...

void	setTarget (rw::core::Ptr< rwsim::dynamics::Body > body, rw::trajectory::Trajectory< rw::math::Transform3D<>>::Ptr traj)
	Set a target trajectory of a body. The initial configuration of the trajectory must match the current configuration of the body. More...

void	setTarget (rw::core::Ptr< rwsim::dynamics::Body > body, const rw::math::VelocityScrew6D<> &velocity)
	Set a velocity target. More...

void	setForceTarget (rw::core::Ptr< rwsim::dynamics::Body > body, rw::math::Vector3D<> force, rw::math::Vector3D<> torque)
	Set the force target of a body, the forces will be added such that the force on the body in each timestep will be timestep/[force;torque]. In other words the wrench [force;torque] is stretched over one second. More...

rw::math::Transform3D	getTarget (rw::core::Ptr< rwsim::dynamics::Body > body)
	Get the current Cartesian target. More...

rw::trajectory::Trajectory< rw::math::Transform3D<> >::Ptr	getTargetTrajectory (rw::core::Ptr< rwsim::dynamics::Body > body)
	Get the current target trajectory for body body. More...

void	disableBodyControl (rw::core::Ptr< rwsim::dynamics::Body > body)
	Disable control of a specific body. More...

void	disableBodyControl ()
	Disable control of all bodies.

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	updates/steps the controller with time step dt. It will update the state state accordingly More...

void	reset (const rw::kinematics::State &state)
	reset the controller to the applied state More...

std::string	getControllerName ()
	get the name of this controller More...

void	setEnabled (bool enabled)
	disable or enable this controller More...

bool	isEnabled () const
	true if this controller is enabled More...

rwlibs::control::Controller::Ptr	getControllerHandle (rwlibs::simulation::Simulator::Ptr sim)
	get the controller handle eg. statefull handle, associated with this simulated controller More...

Public Member Functions inherited from Controller
virtual	~Controller ()
	destructor

const std::string &	getName () const
	get the unique name of this controller More...

void	setName (const std::string &name)
	set the name of the controller More...

Public Member Functions inherited from SimulatedController
virtual rw::core::Ptr< rwlibs::control::Controller >	getControllerHandle (rw::core::Ptr< rwlibs::simulation::Simulator > sim)=0
	get the controller handle eg. statefull handle, associated with this simulated controller More...

rw::core::Ptr< rw::models::ControllerModel >	getControllerModel ()
	get the controllermodel of this simulated controller More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

Additional Inherited Members
Protected Member Functions inherited from Controller
	Controller (const std::string &name)
	constructor More...

Protected Member Functions inherited from SimulatedController
	SimulatedController (rw::models::ControllerModel::Ptr model)
	Constructor. More...

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

A Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body.

Constructor & Destructor Documentation

◆ BodyController()

BodyController ( const std::string & name )

Construct new controller.

Parameters

name	[in] the name of the controller.

Member Function Documentation

◆ disableBodyControl()

void disableBodyControl ( rw::core::Ptr< rwsim::dynamics::Body > body )

Disable control of a specific body.

Parameters

body	[in] the body.

◆ getControllerHandle()

rwlibs::control::Controller::Ptr getControllerHandle ( rwlibs::simulation::Simulator::Ptr sim )

inline

get the controller handle eg. statefull handle, associated with this simulated controller

Returns

◆ getControllerName()

std::string getControllerName ( )

inlinevirtual

get the name of this controller

Returns: name of this controller

Implements SimulatedController.

◆ getTarget()

rw::math::Transform3D getTarget ( rw::core::Ptr< rwsim::dynamics::Body > body )

Get the current Cartesian target.

Parameters

body	[in] the body for which to get the target

Returns: 6D Cartesian target

◆ getTargetTrajectory()

rw::trajectory::Trajectory<rw::math::Transform3D<> >::Ptr getTargetTrajectory ( rw::core::Ptr< rwsim::dynamics::Body > body )

Get the current target trajectory for body body.

Parameters

body	[in] body for which to get the target

Returns: target trajectory

◆ isEnabled()

bool isEnabled ( ) const

inlinevirtual

true if this controller is enabled

Returns

Implements SimulatedController.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

reset the controller to the applied state

Parameters

state [in] the state to reset to

Implements SimulatedController.

◆ setEnabled()

void setEnabled ( bool enabled )

inlinevirtual

disable or enable this controller

Parameters

enabled

Implements SimulatedController.

◆ setForceTarget()

void setForceTarget	(	rw::core::Ptr< rwsim::dynamics::Body >	body,
		rw::math::Vector3D<>	force,
		rw::math::Vector3D<>	torque
	)

Set the force target of a body, the forces will be added such that the force on the body in each timestep will be timestep/[force;torque]. In other words the wrench [force;torque] is stretched over one second.

The wrench is defined in world coordinates.

Parameters

body	[in] the body.
force	[in] the force.
torque	[in] the torque.

◆ setTarget() [1/3]

void setTarget	(	rw::core::Ptr< rwsim::dynamics::Body >	body,
		const rw::math::Transform3D<> &	target,
		const rw::kinematics::State &	state,
		double	maxLinVel = `0.5`,
		double	maxLinAcc = `1.0`,
		double	maxAngVel = `0.4`,
		double	maxAngAcc = `1.0`
	)

Sets the target transform of a body. The target is defined in world frame.

Parameters

body	[in] the body to set target for.
target	[in] the target transformation in world frame.
state	[in] the state giving the current position.
maxLinVel	[in] (optional) maximum linear velocity of the body in \(\frac{m}{s}\).
maxLinAcc	[in] (optional) maximum linear acceleration of the body in \(\frac{m}{s^2}\).
maxAngVel	[in] (optional) maximum angular velocity of the body in \(\frac{rad}{s}\).
maxAngAcc	[in] (optional) maximum angular acceleration of the body in \(\frac{rad}{s^2}\).

◆ setTarget() [2/3]

void setTarget	(	rw::core::Ptr< rwsim::dynamics::Body >	body,
		const rw::math::VelocityScrew6D<> &	velocity
	)

Set a velocity target.

Parameters

body	[in] the body that should move.
velocity	[in] the velocity target.

◆ setTarget() [3/3]

void setTarget	(	rw::core::Ptr< rwsim::dynamics::Body >	body,
		rw::trajectory::Trajectory< rw::math::Transform3D<>>::Ptr	traj
	)

Set a target trajectory of a body. The initial configuration of the trajectory must match the current configuration of the body.

A Kinematic body will follow the exact path of the trajectory whereas a RigidBody will use a PD controller to follow the trajectory

Parameters

body	[in] the body that should be moved
traj	[in] the trajectory.

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

info	[in] update information related to the time step.
state	[in/out] the current state

Implements SimulatedController.

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

control/BodyController.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BodyController()

Member Function Documentation

◆ disableBodyControl()

◆ getControllerHandle()

◆ getControllerName()

◆ getTarget()

◆ getTargetTrajectory()

◆ isEnabled()

◆ reset()

◆ setEnabled()

◆ setForceTarget()

◆ setTarget() [1/3]

◆ setTarget() [2/3]

◆ setTarget() [3/3]

◆ update()