SerialDeviceController Class Reference

a SerialDeviceController that enables control of the robot in both position, velocity and force modes. Also both joint and cartesean control is available. More...

#include <SerialDeviceController.hpp>

Inherits SimulatedController.

Classes
struct	CompiledTarget
struct	Target

Public Types
typedef rw::core::Ptr< SerialDeviceController >	Ptr
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
	SerialDeviceController (const std::string &name, dynamics::DynamicDevice::Ptr ddev)
	SerialDeviceController (const std::string &name, rw::core::Ptr< rwsim::dynamics::RigidDevice > ddev)
	construct using RigidDevice. More...
virtual	~SerialDeviceController ()
	destructor
bool	moveLin (const rw::math::Transform3D<> &target, float speed=100, float blend=0)
	move robot in a linear Cartesian path
bool	movePTP (const rw::math::Q &target, float speed=100, float blend=0)
	move robot from point to point
bool	movePTP_T (const rw::math::Transform3D<> &target, float speed=100, float blend=0)
	move robot from point to point but using a pose as target (require invkin)
bool	moveTraj (const rw::trajectory::QTrajectory::Ptr traj, float speed=100)
void	flushQueue ()
	flushes the move command queue. This is usefull for braking the current trajectory without stopping the robot. However, if no commands are placed on the queue after calling flush then the robot will stop.
virtual bool	moveVelQ (const rw::math::Q &target_joint_velocity)
	move robot in a servoing fasion
virtual bool	moveVelT (const rw::math::VelocityScrew6D<> &vel)
virtual bool	moveLinFC (const rw::math::Transform3D<> &target, const rw::math::Wrench6D<> &wtarget, float selection[6], std::string refframe, rw::math::Rotation3D<> offset, float speed=100, float blend=0)
	move robot with a hybrid position/force control
bool	stop ()
bool	pause ()
	stops the robot but without flushing the command queue. Please notice that the trajectories will
bool	isStopped ()
bool	start ()
	reenable control after calling stop More...
bool	setSafeModeEnabled (bool enable)
	enable safe mode, so that robot stops when collisions are detected
void	setMaxLinearVelocity (double maxVel)
	the max linear/translational velocity in m/s
void	setMaxAngularVelocity (double maxVel)
	the max angular velocity in rad/s
rw::math::Q	getQ ()
rw::math::Q	getQd ()
bool	isMoving ()
dynamics::DynamicDevice::Ptr	getDynamicDevice ()
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	updateFTcontrolWrist (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
std::string	getControllerName ()
	get the name of this controller More...
void	reset (const rw::kinematics::State &state)
	reset the controller to the applied state More...
rwlibs::control::Controller *	getController ()
void	setEnabled (bool enabled)
	disable or enable this controller More...
bool	isEnabled () const
	true if this controller is enabled More...
void	setFTSensor (rw::sensor::FTSensor *sensor)
	Set a FTSensor. More...
rwlibs::control::Controller::Ptr	getControllerHandle (rwlibs::simulation::Simulator::Ptr sim)
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...

Protected Types
enum	TargetType {   PTP , PTP_T , Lin , VelQ ,   VelT , LinFC , TrajQ }

Protected Member Functions
CompiledTarget	makeTrajectory (const std::vector< Target > &targets, rw::kinematics::State &state)
	create trajectory from current joint position and joint velocity
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

Additional Inherited Members
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 SerialDeviceController that enables control of the robot in both position, velocity and force modes. Also both joint and cartesean control is available.

Constructor & Destructor Documentation

SerialDeviceController() [1/2]

SerialDeviceController	(	const std::string &	name,
		dynamics::DynamicDevice::Ptr	ddev
	)

Parameters

name	[in] controller name
ddev	[in]

SerialDeviceController() [2/2]

SerialDeviceController	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::RigidDevice >	ddev
	)

construct using RigidDevice.

Parameters

name	[in] name of controller
ddev	[in] the RigidDevice that should be controlled

Member Function Documentation

getControllerName()

std::string getControllerName ( )

inlinevirtual

get the name of this controller

Returns

name of this controller

Implements SimulatedController.

isEnabled()

bool isEnabled ( ) const

inlinevirtual

true if this controller is enabled

Returns

Implements SimulatedController.

reset()

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

inlinevirtual

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.

setFTSensor()

void setFTSensor

(

rw::sensor::FTSensor *

sensor

)

Set a FTSensor.

When using hybrid position and force/torque control it is important to set the sensor used, such that the measured force/torque can be taken into account when calculating the required motor forces.

Parameters

sensor

[in] a pointer to the FTSensor (must have its frame at one of the joints of the robot).

start()

bool start

(

)

reenable control after calling stop

Returns

stop()

bool stop

(

)

Other control commands that effects the robot movements. hard stop the robot,

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.

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

• SerialDeviceController.hpp