Detailed Description

template<int t_features>
class humoto::pepper_ik::WholeBodyController< t_features >

Whole body controller.

Template Parameters

t_features features identifying the model

Definition at line 23 of file whole_body_controller.h.

#include <whole_body_controller.h>

Inheritance diagram for humoto::pepper_ik::WholeBodyController< t_features >:

Public Member Functions
	WholeBodyController ()
	Constructor. More...

	WholeBodyController (const humoto::pepper_ik::WBCParameters &wbc_parameters)
	Constructor. More...

void	computeTagsDesiredPoseInGlobal (const humoto::pepper_ik::Model< t_features > &model)
	Get desired tag(s) pose in global frame. More...

etools::Vector6	getBaseVelocityInGlobal (const humoto::pepper_ik::Model< t_features > &model)
	Get base velocity in global frame. More...

humoto::pepper_ik::GeneralizedCoordinates< t_features >	getNextGeneralizedCoordinates (const humoto::Solution &solution, const humoto::pepper_ik::Model< t_features > &model)
	Get next model state. More...

humoto::pepper_ik::GeneralizedCoordinates< t_features >	getNextGeneralizedCoordinates (const humoto::pepper_ik::Model< t_features > &model) const
	Get next model state. More...

etools::Vector6	getTagPoseErrorInGlobal (const humoto::pepper_ik::Model< t_features > &model, const std::string &tag_name) const
	Get tag pose error in global frame. More...

Eigen::VectorXd	getTagVelocityInGlobal (const humoto::pepper_ik::Model< t_features > &model, const std::string &tag_name, const etools::Vector6 &tag_velocity_local, const rbdl::SpatialType::Type &spatial_type) const
	Get velocity in global frame. More...

Eigen::VectorXd	getTagVelocityInLocal (const std::string &tag_name, const rbdl::SpatialType::Type &spatial_type) const
	Get tag velocity in local frame (vx, vy, vz, wx, wy, wz) More...

virtual void	guessSolution (Solution &solution_guess, const Solution &old_solution) const
	Guess solution. More...

void	initSolutionStructure (humoto::Solution &solution) const
	Initialize structure of the given solution based on the internally stored solution structure. More...

void	log (humoto::Logger &logger, const LogEntryName &parent=LogEntryName(), const std::string &name="wbc") const
	Log. More...

void	parseSolution (const humoto::Solution &solution)
	Process solution. More...

void	setTagsVelocity (const std::map< std::string, etools::Vector6 > &tag_velocity)
	Set tag(s) velocity. More...

ControlProblemStatus::Status	update (humoto::pepper_ik::Model< t_features > &model, const humoto::pepper_ik::MotionParameters &motion_parameters)
	Update control problem. More...

Public Attributes
humoto::pepper_ik::MotionParameters	motion_parameters_

std::map< std::string, etools::Vector6 >	tags_desired_pose_global_

std::map< std::string, etools::Vector6 >	tags_velocity_

Protected Attributes
SolutionStructure	sol_structure_

Private Attributes
bool	solution_is_parsed_

humoto::pepper_ik::WBCParameters	wbc_parameters_

Constructor & Destructor Documentation

◆ WholeBodyController() [1/2]

template<int t_features>

humoto::pepper_ik::WholeBodyController< t_features >::WholeBodyController ( )

inline

Constructor.

Definition at line 221 of file whole_body_controller.h.

◆ WholeBodyController() [2/2]

template<int t_features>

humoto::pepper_ik::WholeBodyController< t_features >::WholeBodyController ( const humoto::pepper_ik::WBCParameters & wbc_parameters )

inlineexplicit

Constructor.

Parameters

[in] wbc_parameters

Definition at line 232 of file whole_body_controller.h.

Member Function Documentation

◆ computeTagsDesiredPoseInGlobal()

template<int t_features>

void humoto::pepper_ik::WholeBodyController< t_features >::computeTagsDesiredPoseInGlobal ( const humoto::pepper_ik::Model< t_features > & model )

inline

Get desired tag(s) pose in global frame.

Parameters

[in] model

Definition at line 161 of file whole_body_controller.h.

◆ getBaseVelocityInGlobal()

template<int t_features>

etools::Vector6 humoto::pepper_ik::WholeBodyController< t_features >::getBaseVelocityInGlobal ( const humoto::pepper_ik::Model< t_features > & model )

inline

Get base velocity in global frame.

Parameters

[in] model

Returns: base_velocity

Definition at line 92 of file whole_body_controller.h.

◆ getNextGeneralizedCoordinates() [1/2]

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates<t_features> humoto::pepper_ik::WholeBodyController< t_features >::getNextGeneralizedCoordinates	(	const humoto::Solution &	solution,
		const humoto::pepper_ik::Model< t_features > &	model
	)

inline

Get next model state.

Parameters

[in]	solution	solution
[in]	model	model

Returns: next model state.

Definition at line 285 of file whole_body_controller.h.

◆ getNextGeneralizedCoordinates() [2/2]

template<int t_features>

humoto::pepper_ik::GeneralizedCoordinates<t_features> humoto::pepper_ik::WholeBodyController< t_features >::getNextGeneralizedCoordinates ( const humoto::pepper_ik::Model< t_features > & model ) const

inline

Get next model state.

Parameters

[in] model model

Returns: next model state.

Definition at line 309 of file whole_body_controller.h.

◆ getTagPoseErrorInGlobal()

template<int t_features>

etools::Vector6 humoto::pepper_ik::WholeBodyController< t_features >::getTagPoseErrorInGlobal	(	const humoto::pepper_ik::Model< t_features > &	model,
		const std::string &	tag_name
	)		const

inline

Get tag pose error in global frame.

Parameters

[in]	model
[in]	tag_name

Returns: error in pose in global frame

Definition at line 195 of file whole_body_controller.h.

◆ getTagVelocityInGlobal()

template<int t_features>

Eigen::VectorXd humoto::pepper_ik::WholeBodyController< t_features >::getTagVelocityInGlobal	(	const humoto::pepper_ik::Model< t_features > &	model,
		const std::string &	tag_name,
		const etools::Vector6 &	tag_velocity_local,
		const rbdl::SpatialType::Type &	spatial_type
	)		const

inline

Get velocity in global frame.

Parameters

[in]	model
[in]	tag_name
[in]	tag_velocity_local
[in]	spatial_type

Returns: velocity in global frame

Definition at line 110 of file whole_body_controller.h.

◆ getTagVelocityInLocal()

template<int t_features>

Eigen::VectorXd humoto::pepper_ik::WholeBodyController< t_features >::getTagVelocityInLocal	(	const std::string &	tag_name,
		const rbdl::SpatialType::Type &	spatial_type
	)		const

inline

Get tag velocity in local frame (vx, vy, vz, wx, wy, wz)

Parameters

[in]	tag_name
[in]	spatial_type

Returns: velocity in local frame

Definition at line 45 of file whole_body_controller.h.

◆ guessSolution()

virtual void humoto::ControlProblem::guessSolution	(	Solution &	solution_guess,
		const Solution &	old_solution
	)		const

inlinevirtualinherited

Guess solution.

Parameters

[out]	solution_guess	solution guess
[in]	old_solution	old solution

Attention: This method is called automatically. Can (and often should) be redefined in derived classes.

Reimplemented in humoto::pepper_mpc::MPCforMG, and humoto::wpg04::MPCforWPG.

Definition at line 82 of file control_problem.h.

◆ initSolutionStructure()

void humoto::ControlProblem::initSolutionStructure ( humoto::Solution & solution ) const

inlineinherited

Initialize structure of the given solution based on the internally stored solution structure.

Parameters

[out] solution solution

Attention: This method is called automatically.

Definition at line 64 of file control_problem.h.

◆ log()

template<int t_features>

void humoto::pepper_ik::WholeBodyController< t_features >::log	(	humoto::Logger &	logger,
		const LogEntryName &	parent = `LogEntryName()`,
		const std::string &	name = `"wbc"`
	)		const

inlinevirtual

Log.

Parameters

[in,out]	logger	logger
[in]	parent	parent
[in]	name	name

Implements humoto::ControlProblem.

Definition at line 324 of file whole_body_controller.h.

◆ parseSolution()

template<int t_features>

void humoto::pepper_ik::WholeBodyController< t_features >::parseSolution ( const humoto::Solution & solution )

inline

Process solution.

Parameters

[in] solution solution

Definition at line 270 of file whole_body_controller.h.

◆ setTagsVelocity()

template<int t_features>

void humoto::pepper_ik::WholeBodyController< t_features >::setTagsVelocity ( const std::map< std::string, etools::Vector6 > & tag_velocity )

inline

Set tag(s) velocity.

Parameters

[in] tag_velocity

Definition at line 80 of file whole_body_controller.h.

◆ update()

template<int t_features>

ControlProblemStatus::Status humoto::pepper_ik::WholeBodyController< t_features >::update	(	humoto::pepper_ik::Model< t_features > &	model,
		const humoto::pepper_ik::MotionParameters &	motion_parameters
	)

inline

Update control problem.

Parameters

[in]	model	model of the system
[in]	motion_parameters

Returns: ControlProblemStatus::OK/ControlProblemStatusSTOPPED

Definition at line 248 of file whole_body_controller.h.

Member Data Documentation

◆ motion_parameters_

template<int t_features>

humoto::pepper_ik::MotionParameters humoto::pepper_ik::WholeBodyController< t_features >::motion_parameters_

Definition at line 31 of file whole_body_controller.h.

◆ sol_structure_

SolutionStructure humoto::ControlProblem::sol_structure_

protectedinherited

Definition at line 43 of file control_problem.h.

◆ solution_is_parsed_

template<int t_features>

bool humoto::pepper_ik::WholeBodyController< t_features >::solution_is_parsed_

private

Definition at line 26 of file whole_body_controller.h.

◆ tags_desired_pose_global_

template<int t_features>

std::map<std::string, etools::Vector6> humoto::pepper_ik::WholeBodyController< t_features >::tags_desired_pose_global_

Definition at line 33 of file whole_body_controller.h.

◆ tags_velocity_

template<int t_features>

std::map<std::string, etools::Vector6> humoto::pepper_ik::WholeBodyController< t_features >::tags_velocity_

Definition at line 32 of file whole_body_controller.h.

◆ wbc_parameters_

template<int t_features>

humoto::pepper_ik::WBCParameters humoto::pepper_ik::WholeBodyController< t_features >::wbc_parameters_

private

Definition at line 27 of file whole_body_controller.h.

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

modules/pepper_ik/include/pepper_ik/whole_body_controller.h

Detailed Description

template<int t_features> class humoto::pepper_ik::WholeBodyController< t_features >

Public Member Functions

Public Attributes

Protected Attributes

Private Attributes

Constructor & Destructor Documentation

◆ WholeBodyController() [1/2]

◆ WholeBodyController() [2/2]

Member Function Documentation

◆ computeTagsDesiredPoseInGlobal()

◆ getBaseVelocityInGlobal()

◆ getNextGeneralizedCoordinates() [1/2]

◆ getNextGeneralizedCoordinates() [2/2]

◆ getTagPoseErrorInGlobal()

◆ getTagVelocityInGlobal()

◆ getTagVelocityInLocal()

◆ guessSolution()

◆ initSolutionStructure()

◆ log()

◆ parseSolution()

◆ setTagsVelocity()

◆ update()

Member Data Documentation

◆ motion_parameters_

◆ sol_structure_

◆ solution_is_parsed_

◆ tags_desired_pose_global_

◆ tags_velocity_

◆ wbc_parameters_

template<int t_features>
class humoto::pepper_ik::WholeBodyController< t_features >