Public Member Functions | Public Attributes | Static Public Attributes | List of all members
mc_rbdyn::RobotModule::Gripper::Safety Struct Reference

#include <mc_rbdyn/RobotModule.h>

Public Member Functions

 Safety ()
 
 Safety (double percentVMax, double actualCommandDiffTrigger=DEFAULT_ACTUAL_COMMAND_DIFF_TRIGGER, double releaseSafetyOffset=DEFAULT_RELEASE_OFFSET, unsigned int overCommandLimitIterN=DEFAULT_OVER_COMMAND_LIMIT_ITER_N)
 
void load (const mc_rtc::Configuration &config)
 
mc_rtc::Configuration save () const
 

Public Attributes

double percentVMax
 
double actualCommandDiffTrigger
 
double releaseSafetyOffset
 
unsigned int overCommandLimitIterN
 

Static Public Attributes

static constexpr double DEFAULT_PERCENT_VMAX = 0.25
 
static constexpr double DEFAULT_ACTUAL_COMMAND_DIFF_TRIGGER = mc_rtc::constants::toRad(8.)
 
static constexpr double DEFAULT_RELEASE_OFFSET = mc_rtc::constants::toRad(2)
 
static constexpr unsigned int DEFAULT_OVER_COMMAND_LIMIT_ITER_N = 5
 

Detailed Description

Holds information regarding gripper control safety parameters

Constructor & Destructor Documentation

◆ Safety() [1/2]

mc_rbdyn::RobotModule::Gripper::Safety::Safety ( )
inline

◆ Safety() [2/2]

mc_rbdyn::RobotModule::Gripper::Safety::Safety ( double  percentVMax,
double  actualCommandDiffTrigger = DEFAULT_ACTUAL_COMMAND_DIFF_TRIGGER,
double  releaseSafetyOffset = DEFAULT_RELEASE_OFFSET,
unsigned int  overCommandLimitIterN = DEFAULT_OVER_COMMAND_LIMIT_ITER_N 
)
inline

Member Function Documentation

◆ load()

void mc_rbdyn::RobotModule::Gripper::Safety::load ( const mc_rtc::Configuration &  config)

Load safety parameters from a configuration object

◆ save()

mc_rtc::Configuration mc_rbdyn::RobotModule::Gripper::Safety::save ( ) const

Save safety parameters

Member Data Documentation

◆ actualCommandDiffTrigger

double mc_rbdyn::RobotModule::Gripper::Safety::actualCommandDiffTrigger

Difference between the command and the reality that triggers the safety

◆ DEFAULT_ACTUAL_COMMAND_DIFF_TRIGGER

constexpr double mc_rbdyn::RobotModule::Gripper::Safety::DEFAULT_ACTUAL_COMMAND_DIFF_TRIGGER = mc_rtc::constants::toRad(8.)
staticconstexpr

Difference between the command and the reality that triggers the safety

◆ DEFAULT_OVER_COMMAND_LIMIT_ITER_N

constexpr unsigned int mc_rbdyn::RobotModule::Gripper::Safety::DEFAULT_OVER_COMMAND_LIMIT_ITER_N = 5
staticconstexpr

Number of iterations before the security is triggered

◆ DEFAULT_PERCENT_VMAX

constexpr double mc_rbdyn::RobotModule::Gripper::Safety::DEFAULT_PERCENT_VMAX = 0.25
staticconstexpr

Percentage of max velocity of active joints in the gripper

◆ DEFAULT_RELEASE_OFFSET

constexpr double mc_rbdyn::RobotModule::Gripper::Safety::DEFAULT_RELEASE_OFFSET = mc_rtc::constants::toRad(2)
staticconstexpr

Release offset [gripper units]

◆ overCommandLimitIterN

unsigned int mc_rbdyn::RobotModule::Gripper::Safety::overCommandLimitIterN

Number of iterations before the security is triggered

◆ percentVMax

double mc_rbdyn::RobotModule::Gripper::Safety::percentVMax

Percentage of max velocity of active joints in the gripper

◆ releaseSafetyOffset

double mc_rbdyn::RobotModule::Gripper::Safety::releaseSafetyOffset

Offset by which the gripper is released when safety is triggered

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