mc_tvm::PositionBasedVisServoFunction Struct Reference

#include <mc_tvm/PositionBasedVisServoFunction.h>

Inheritance diagram for mc_tvm::PositionBasedVisServoFunction:

Collaboration diagram for mc_tvm::PositionBasedVisServoFunction:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PositionBasedVisServoFunction (const mc_rbdyn::RobotFrame &frame)
void	reset () noexcept
const sva::PTransformd &	error () const noexcept
void	error (const sva::PTransformd &X_t_s) noexcept
const mc_rbdyn::RobotFrame &	frame () const noexcept

Protected Member Functions
void	updateValue ()
void	updateVelocity ()
void	updateJacobian ()
void	updateNormalAcceleration ()

Protected Attributes
mc_rbdyn::ConstRobotFramePtr	frame_
mc_tvm::RobotFrame &	tvm_frame_
sva::PTransformd	X_t_s_
rbd::Jacobian	frameJac_
double	angle_
Eigen::Vector3d	axis_
Eigen::Matrix< double, 6, 6 >	L_pbvs_
Eigen::Matrix< double, 6, 1 >	frameVelocity_
Eigen::Matrix3d	omegaSkew_
Eigen::Matrix< double, 6, 6 >	L_pbvs_dot_
Eigen::MatrixXd	shortJacMat_
Eigen::MatrixXd	jacMat_

Detailed Description

This class implements a position-based visual servoing function

This task value is to be updated by an external process (e.g. a vision algorithm)

See https://hal.inria.fr/hal-01421734/file/2016_ral_agaravante.pdf for details

Constructor & Destructor Documentation

PositionBasedVisServoFunction()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mc_tvm::PositionBasedVisServoFunction::PositionBasedVisServoFunction

(

const mc_rbdyn::RobotFrame &

frame

)

Constructor

Parameters

frame

Controlled frame

Member Function Documentation

error() [1/2]

const sva::PTransformd& mc_tvm::PositionBasedVisServoFunction::error ( ) const

inlinenoexcept

Access the current error

error() [2/2]

void mc_tvm::PositionBasedVisServoFunction::error ( const sva::PTransformd &  X_t_s )

inlinenoexcept

Set the function error, i.e. the current position relative to the target position

frame()

const mc_rbdyn::RobotFrame& mc_tvm::PositionBasedVisServoFunction::frame ( ) const

inlinenoexcept

Access the controlled frame

reset()

void mc_tvm::PositionBasedVisServoFunction::reset ( )

inlinenoexcept

Reset the error

updateJacobian()

void mc_tvm::PositionBasedVisServoFunction::updateJacobian ( )

protected

updateNormalAcceleration()

void mc_tvm::PositionBasedVisServoFunction::updateNormalAcceleration ( )

protected

updateValue()

void mc_tvm::PositionBasedVisServoFunction::updateValue ( )

protected

updateVelocity()

void mc_tvm::PositionBasedVisServoFunction::updateVelocity ( )

protected

Member Data Documentation

angle_

double mc_tvm::PositionBasedVisServoFunction::angle_

protected

axis_

Eigen::Vector3d mc_tvm::PositionBasedVisServoFunction::axis_

protected

frame_

mc_rbdyn::ConstRobotFramePtr mc_tvm::PositionBasedVisServoFunction::frame_

protected

frameJac_

rbd::Jacobian mc_tvm::PositionBasedVisServoFunction::frameJac_

protected

frameVelocity_

Eigen::Matrix<double, 6, 1> mc_tvm::PositionBasedVisServoFunction::frameVelocity_

protected

jacMat_

Eigen::MatrixXd mc_tvm::PositionBasedVisServoFunction::jacMat_

protected

L_pbvs_

Eigen::Matrix<double, 6, 6> mc_tvm::PositionBasedVisServoFunction::L_pbvs_

protected

L_pbvs_dot_

Eigen::Matrix<double, 6, 6> mc_tvm::PositionBasedVisServoFunction::L_pbvs_dot_

protected

omegaSkew_

Eigen::Matrix3d mc_tvm::PositionBasedVisServoFunction::omegaSkew_

protected

shortJacMat_

Eigen::MatrixXd mc_tvm::PositionBasedVisServoFunction::shortJacMat_

protected

tvm_frame_

mc_tvm::RobotFrame& mc_tvm::PositionBasedVisServoFunction::tvm_frame_

protected

X_t_s_

sva::PTransformd mc_tvm::PositionBasedVisServoFunction::X_t_s_

protected

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

• include/mc_tvm/PositionBasedVisServoFunction.h