Impedance-based damping control of the end-effector. More...

#include <mc_tasks/FirstOrderImpedanceTask.h>

Inheritance diagram for mc_tasks::force::FirstOrderImpedanceTask:

Collaboration diagram for mc_tasks::force::FirstOrderImpedanceTask:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	FirstOrderImpedanceTask (const std::string &surfaceName, const mc_rbdyn::Robots &robots, unsigned robotIndex, double stiffness=5.0, double weight=1000.0)
	Constructor. More...

	FirstOrderImpedanceTask (const mc_rbdyn::RobotFrame &Frame, double stiffness=5.0, double weight=1000.0)
	Constructor. More...

void	update (mc_solver::QPSolver &solver) override
	Update task. More...

Public Member Functions inherited from mc_tasks::force::ImpedanceTask
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	ImpedanceTask (const std::string &surfaceName, const mc_rbdyn::Robots &robots, unsigned robotIndex, double stiffness=5.0, double weight=1000.0)
	Constructor. More...

	ImpedanceTask (const mc_rbdyn::RobotFrame &frame, double stiffness=5.0, double weight=1000.0)
	Constructor. More...

void	reset () override
	Reset the task. More...

const ImpedanceGains &	gains () const noexcept
	Access the impedance gains. More...

ImpedanceGains &	gains () noexcept
	Access the impedance gains. More...

const sva::PTransformd &	targetPose () const noexcept
	Get the target pose of the surface in the world frame. More...

void	targetPose (const sva::PTransformd &pose)
	Set the target pose of the surface in the world frame. More...

const sva::MotionVecd &	targetVel () const noexcept
	Get the target velocity of the surface in the world frame. More...

void	targetVel (const sva::MotionVecd &worldVel) override
	Set the target velocity of the surface in the world frame. More...

const sva::MotionVecd &	targetAccel () const noexcept
	Get the target acceleration of the surface in the world frame. More...

void	targetAccel (const sva::MotionVecd &accel)
	Set the target acceleration of the surface in the world frame. More...

const sva::PTransformd &	deltaCompliancePose () const
	Get the relative pose from target frame to compliance frame represented in the world frame. More...

const sva::PTransformd	compliancePose () const
	Get the compliance pose of the surface in the world frame. More...

const sva::ForceVecd &	targetWrench () const noexcept
	Get the target wrench in the surface frame. More...

void	targetWrenchW (const sva::ForceVecd &wrenchW)
	Set the target wrench in the world frame. This function will convert the wrench from the world frame to the surface frame, and call targetWrench(). More...

void	targetWrench (const sva::ForceVecd &wrench)
	Set the target wrench in the surface frame. More...

const sva::ForceVecd &	measuredWrench () const
	Get the measured wrench in the surface frame. More...

const sva::ForceVecd &	filteredMeasuredWrench () const
	Get the filtered measured wrench in the surface frame. More...

double	cutoffPeriod () const
	Get the cutoff period for the low-pass filter of measured wrench. More...

void	cutoffPeriod (double cutoffPeriod)
	Set the cutoff period for the low-pass filter of measured wrench. More...

bool	hold () const noexcept
	Get whether hold mode is enabled. More...

void	hold (bool hold) noexcept
	Set hold mode. More...

void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config) override
	Load parameters from a Configuration object. More...

Public Member Functions inherited from mc_tasks::TransformTask
	TransformTask (const mc_rbdyn::RobotFrame &frame, double stiffness=2.0, double weight=500.0)
	Constructor. More...

	TransformTask (const std::string &surfaceName, const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness=2.0, double weight=500)
	Constructor. More...

void	reset () override
	Reset the task. More...

void	targetSurface (unsigned int robotIndex, const std::string &surfaceName, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a robot surface with an optional offset. The offset is expressed in the target contact frame. More...

void	targetFrame (const mc_rbdyn::Frame &targetFrame, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a given frame with an optional offset. More...

void	targetFrameVelocity (const mc_rbdyn::Frame &targetFrame, const sva::PTransformd &offset=sva::PTransformd::Identity())
	Targets a given frame velocity with an optional offset. More...

virtual void	target (const mc_rbdyn::Frame &frame, const sva::PTransformd &offset)
	Targets a given frame with an optional offset. More...

const std::string &	surface () const noexcept
	Retrieve the controlled frame name. More...

const mc_rbdyn::RobotFrame &	frame () const noexcept
	Return the controlled frame (const) More...

sva::PTransformd	surfacePose () const noexcept

std::function< bool(const mc_tasks::MetaTask &task, std::string &)>	buildCompletionCriteria (double dt, const mc_rtc::Configuration &config) const override

void	addToLogger (mc_rtc::Logger &logger) override

void	setGains (const sva::MotionVecd &stiffness, const sva::MotionVecd &damping)
	Set dimensional stiffness and damping. More...

void	stiffness (const sva::MotionVecd &stiffness)
	Set dimensional stiffness. More...

sva::MotionVecd	mvStiffness ()
	Get dimensional stiffness as a motion vector. More...

void	damping (const sva::MotionVecd &damping)
	Set dimensional damping. More...

sva::MotionVecd	mvDamping ()
	Get dimensional damping as a motion vector. More...

void	refVelB (const sva::MotionVecd &velB)
	Set trajectory task's reference velocity from motion vector in frame coordinates. More...

sva::MotionVecd	refVelB () const
	Get reference velocity in frame coordinates as a motion vector. More...

void	refAccel (const sva::MotionVecd &accel)
	Set trajectory task's reference acceleration from motion vector. More...

void	load (mc_solver::QPSolver &solver, const mc_rtc::Configuration &config) override
	Load parameters from a Configuration object. More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

double	damping () const
	Get the current task damping. More...

void	setGains (double stiffness, double damping)
	Set both stiffness and damping. More...

void	setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
	Set dimensional stiffness and damping. More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

double	stiffness () const
	Get the current task stiffness. More...

Public Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
	TrajectoryTaskGeneric (const mc_rbdyn::Robots &robots, unsigned int robotIndex, double stiffness, double weight)
	Constructor (auto damping) More...

	TrajectoryTaskGeneric (const mc_rbdyn::RobotFrame &frame, double stiffness, double weight)
	Constructor (auto damping) More...

virtual	~TrajectoryTaskGeneric ()=default

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

void	refAccel (const Eigen::VectorXd &accel)
	Set the trajectory reference acceleration. More...

const Eigen::VectorXd &	refAccel () const
	Get the trajectory reference acceleration. More...

void	stiffness (double stiffness)
	Set the task stiffness/damping. More...

void	stiffness (const Eigen::VectorXd &stiffness)
	Set dimensional stiffness. More...

void	damping (double damping)
	Set the task damping, leaving its stiffness unchanged. More...

void	damping (const Eigen::VectorXd &damping)
	Set dimensional damping. More...

void	setGains (double stiffness, double damping)
	Set both stiffness and damping. More...

void	setGains (const Eigen::VectorXd &stiffness, const Eigen::VectorXd &damping)
	Set dimensional stiffness and damping. More...

double	stiffness () const
	Get the current task stiffness. More...

double	damping () const
	Get the current task damping. More...

const Eigen::VectorXd &	dimStiffness () const
	Get the current task dimensional stiffness. More...

const Eigen::VectorXd &	dimDamping () const
	Get the current task dimensional damping. More...

void	weight (double w)
	Set the task weight. More...

double	weight () const
	Returns the task weight. More...

void	dimWeight (const Eigen::VectorXd &dimW) override
	Set the task's dimension weight vector. More...

Eigen::VectorXd	dimWeight () const override
	Get the current task's dim weight vector. More...

void	selectActiveJoints (const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}, bool checkJoints=true)
	Create an active joints selector. More...

void	selectActiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &activeJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &activeDofs={}) override
	Create an active joints selector. More...

void	selectUnactiveJoints (const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}, bool checkJoints=true)
	Create an unactive joints selector. More...

void	selectUnactiveJoints (mc_solver::QPSolver &solver, const std::vector< std::string > &unactiveJointsName, const std::map< std::string, std::vector< std::array< int, 2 >>> &unactiveDofs={}) override
	Create an unactive joints selector. More...

virtual void	resetJointsSelector ()

void	resetJointsSelector (mc_solver::QPSolver &solver) override
	Reset active joints selection. More...

Eigen::VectorXd	eval () const override
	Returns the task error. More...

Eigen::VectorXd	speed () const override
	Returns the task velocity. More...

const Eigen::VectorXd &	normalAcc () const

Public Member Functions inherited from mc_tasks::MetaTask
	MetaTask ()

virtual	~MetaTask ()

const std::string &	type () const

virtual void	name (const std::string &name)

const std::string &	name () const

size_t	iterInSolver () const noexcept
	Get the number of iterations since the task was added to the solver. More...

void	resetIterInSolver () noexcept
	Set the number of iterations since the task was added to the solver to zero. More...

void	incrementIterInSolver () noexcept
	Increment the number of iterations since the task was added to the solver. More...

Backend	backend () const noexcept

Additional Inherited Members
Public Types inherited from mc_tasks::TrajectoryTaskGeneric
using	TrajectoryBase = TrajectoryTaskGeneric

Public Types inherited from mc_tasks::MetaTask
using	Backend = mc_solver::QPSolver::Backend

Protected Member Functions inherited from mc_tasks::force::ImpedanceTask
void	update (mc_solver::QPSolver &solver) override
	Update the task. More...

void	addToSolver (mc_solver::QPSolver &solver) override
	Add the task to a solver. More...

void	addToGUI (mc_rtc::gui::StateBuilder &gui) override

void	addToLogger (mc_rtc::Logger &logger) override

Protected Member Functions inherited from mc_tasks::TransformTask
void	addToGUI (mc_rtc::gui::StateBuilder &gui) override

void	refVel (const Eigen::VectorXd &vel)
	Set the trajectory reference velocity. More...

const Eigen::VectorXd &	refVel () const
	Get the trajectory reference velocity. More...

Protected Member Functions inherited from mc_tasks::TrajectoryTaskGeneric
template<Backend backend, typename ErrorT , typename... Args>
void	finalize (Args &&... args)

void	addToSolver (mc_solver::QPSolver &solver) override
	Add the task to a solver. More...

void	removeFromSolver (mc_solver::QPSolver &solver) override
	Remove the task from a solver. More...

void	update (mc_solver::QPSolver &) override
	Update the task. More...

Protected Member Functions inherited from mc_tasks::MetaTask
virtual void	removeFromLogger (mc_rtc::Logger &)

virtual void	removeFromGUI (mc_rtc::gui::StateBuilder &)

Static Protected Member Functions inherited from mc_tasks::MetaTask
static void	addToSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	removeFromSolver (MetaTask &t, mc_solver::QPSolver &solver)

static void	update (MetaTask &t, mc_solver::QPSolver &solver)

static void	addToLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	removeFromLogger (MetaTask &t, mc_rtc::Logger &logger)

static void	addToGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	removeFromGUI (MetaTask &t, mc_rtc::gui::StateBuilder &gui)

static void	ensureHasJoints (const mc_rbdyn::Robot &robot, const std::vector< std::string > &joints, const std::string &prefix)

Protected Attributes inherited from mc_tasks::force::ImpedanceTask
ImpedanceGains	gains_ = ImpedanceGains::Default()

double	deltaCompPoseLinLimit_ = 1.0

double	deltaCompPoseAngLimit_ = mc_rtc::constants::PI

double	deltaCompVelLinLimit_ = 1e3

double	deltaCompVelAngLimit_ = 1e3

double	deltaCompAccelLinLimit_ = 1e3

double	deltaCompAccelAngLimit_ = 1e3

sva::PTransformd	targetPoseW_ = sva::PTransformd::Identity()

sva::MotionVecd	targetVelW_ = sva::MotionVecd::Zero()

sva::MotionVecd	targetAccelW_ = sva::MotionVecd::Zero()

sva::ForceVecd	targetWrench_ = sva::ForceVecd::Zero()

sva::ForceVecd	measuredWrench_ = sva::ForceVecd::Zero()

sva::ForceVecd	filteredMeasuredWrench_ = sva::ForceVecd::Zero()

double	cutoffPeriod_ = 0.05

mc_filter::LowPass< sva::ForceVecd >	lowPass_

bool	hold_ = false

sva::PTransformd	deltaCompPoseW_ = sva::PTransformd::Identity()

sva::MotionVecd	deltaCompVelW_ = sva::MotionVecd::Zero()

sva::MotionVecd	deltaCompAccelW_ = sva::MotionVecd::Zero()

Protected Attributes inherited from mc_tasks::TransformTask
mc_rbdyn::ConstRobotFramePtr	frame_

Protected Attributes inherited from mc_tasks::TrajectoryTaskGeneric
const mc_rbdyn::Robots &	robots

unsigned int	rIndex

mc_rtc::void_ptr	errorT {nullptr, nullptr}

Eigen::VectorXd	refVel_

Eigen::VectorXd	refAccel_

bool	inSolver_ = false

mc_rtc::void_ptr	trajectoryT_ {nullptr, nullptr}

Eigen::VectorXd	stiffness_

Eigen::VectorXd	damping_

double	weight_

mc_rtc::void_ptr	selectorT_ {nullptr, nullptr}

Protected Attributes inherited from mc_tasks::MetaTask
Backend	backend_

std::string	type_

std::string	name_

size_t	iterInSolver_ = 0

Detailed Description

Impedance-based damping control of the end-effector.

Constructor & Destructor Documentation

◆ FirstOrderImpedanceTask() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_tasks::force::FirstOrderImpedanceTask::FirstOrderImpedanceTask	(	const std::string &	surfaceName,
		const mc_rbdyn::Robots &	robots,
		unsigned	robotIndex,
		double	stiffness = `5.0`,
		double	weight = `1000.0`
	)

Constructor.

Parameters

surfaceName	name of the surface frame to control
robots	robots controlled by this task
robotIndex	index of the robot controlled by this task
stiffness	task stiffness
weight	task weight

Exceptions

If	the body the task is attempting to control does not have a sensor attached to it

◆ FirstOrderImpedanceTask() [2/2]

mc_tasks::force::FirstOrderImpedanceTask::FirstOrderImpedanceTask	(	const mc_rbdyn::RobotFrame &	Frame,
		double	stiffness = `5.0`,
		double	weight = `1000.0`
	)

Constructor.

Parameters

frame	Frame controlled by this task
stiffness	task stiffness
weight	task weight

Exceptions

If	the body the task is attempting to control does not have a sensor attached to it

Member Function Documentation

◆ update()

void mc_tasks::force::FirstOrderImpedanceTask::update ( mc_solver::QPSolver & solver )

overridevirtual

Update task.

Implements mc_tasks::MetaTask.

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

include/mc_tasks/FirstOrderImpedanceTask.h