MultiMotorController Class Reference
MultiMotorController class. More...

Public Member Functions | |
MultiMotorController (QVector< PhyDOF * > motors, World *world) | |
Constructor. | |
virtual | ~MultiMotorController () |
Destructor. | |
QVector< PhyDOF * > & | motors () |
return motors controlled | |
QVector< wPID * > & | positionPIDs () |
return PID used for controlling motors with position modality | |
bool | setEnableLimitsRaw (int axis, bool b) |
Enable/disable the limits for the corresponding joint. | |
virtual void | update () |
apply the torque on the basis of minimum-jerk trajectory | |
QVector< wPID * > & | velocityPIDs () |
return PID used for controlling motors with velocity modality | |
DeviceDriver Interface | |
virtual bool | close () |
close | |
virtual bool | configure (yarp::os::Searchable &config) |
configure | |
virtual bool | open (yarp::os::Searchable &config) |
open | |
Common Control Interface | |
virtual bool | getAxes (int *ax) |
see YARP documentation | |
virtual bool | getRefAcceleration (int j, double *acc) |
see YARP documentation | |
virtual bool | getRefAccelerations (double *accs) |
see YARP documentation | |
virtual bool | setRefAcceleration (int j, double acc) |
see YARP documentation | |
virtual bool | setRefAccelerations (const double *accs) |
see YARP documentation | |
virtual bool | stop (int j) |
see YARP documentation | |
virtual bool | stop () |
see YARP documentation | |
IPositionControl Interface | |
virtual bool | checkMotionDone (int j, bool *flag) |
see YARP documentation | |
virtual bool | checkMotionDone (bool *flag) |
see YARP documentation | |
virtual bool | getRefSpeed (int j, double *ref) |
see YARP documentation | |
virtual bool | getRefSpeeds (double *spds) |
see YARP documentation | |
virtual bool | positionMove (int j, double ref) |
see YARP documentation | |
virtual bool | positionMove (const double *refs) |
see YARP documentation | |
virtual bool | relativeMove (int j, double delta) |
see YARP documentation | |
virtual bool | relativeMove (const double *deltas) |
see YARP documentation | |
virtual bool | setPositionMode () |
see YARP documentation | |
virtual bool | setRefSpeed (int j, double sp) |
see YARP documentation | |
virtual bool | setRefSpeeds (const double *spds) |
see YARP documentation | |
IVelocityControl Interface | |
virtual bool | setVelocityMode () |
see YARP documentation | |
virtual bool | velocityMove (int j, double sp) |
see YARP documentation | |
virtual bool | velocityMove (const double *sp) |
see YARP documentation | |
IControlMode Interface | |
virtual bool | getControlMode (int j, int *mode) |
see YARP documentation | |
virtual bool | getControlModes (int *modes) |
see YARP documentation | |
virtual bool | setImpedancePositionMode (int) |
TOMASSINO: I don't know what to put here, leaving empty. | |
virtual bool | setImpedanceVelocityMode (int) |
TOMASSINO: I don't know what to put here, leaving empty. | |
virtual bool | setOpenLoopMode (int j) |
see YARP documentation | |
virtual bool | setPositionMode (int j) |
see YARP documentation | |
virtual bool | setTorqueMode (int j) |
see YARP documentation | |
virtual bool | setVelocityMode (int j) |
see YARP documentation | |
IEncoders Interface | |
virtual bool | getEncoder (int j, double *v) |
see YARP documentation | |
virtual bool | getEncoders (double *encs) |
see YARP documentation | |
virtual bool | getEncoderAcceleration (int j, double *spds) |
see YARP documentation | |
virtual bool | getEncoderAccelerations (double *accs) |
see YARP documentation | |
virtual bool | getEncoderSpeed (int j, double *sp) |
see YARP documentation | |
virtual bool | getEncoderSpeeds (double *spds) |
see YARP documentation | |
virtual bool | resetEncoder (int j) |
see YARP documentation | |
virtual bool | resetEncoders () |
see YARP documentation | |
virtual bool | setEncoder (int j, double val) |
see YARP documentation | |
virtual bool | setEncoders (const double *vals) |
see YARP documentation | |
IControlLimits Interface | |
virtual bool | getLimits (int axis, double *min, double *max) |
see YARP documentation | |
virtual bool | setLimits (int axis, double min, double max) |
see YARP documentation | |
IControlLimitsRaw Interface | |
virtual bool | getLimitsRaw (int axis, double *min, double *max) |
see YARP documentation | |
virtual bool | setLimitsRaw (int axis, double min, double max) |
see YARP documentation |
Detailed Description
MultiMotorController class.
- Motivation
- This class allow to control the position or the velocity of a vector of PhyDOF
- Description
- It work in two modality: position and velocity.
- Position Modality
- It compute a minimum-jerk trajectory accordlying to the same equation implemented into iCub DSP chips.
if start position,
final (desired) position,
is the period on which movement will last and
is the velocity of joint when movement starts. The joints will be actuated in order to stay at position
during the movement.
is calculated on the basis of reference speed (setRefSpeed) accordlying to following equation:
will resetted to zero at each positionMove calls and it span from 0 to
incremented at each step of World::timeStep(), hence the total movement will require
steps to get completed.
The reference acceleration (RefAcceleration) will be used to know how much acceleration to set on motor during the movement.
- Velocity Modality
- It accelerate/decelerate the joint velocity in order to reach the desired setted by velocityMove without execeeding the reference acceleration setted (RelAcceleration)
- Warnings
Definition at line 180 of file motorcontrollers.h.
Constructor & Destructor Documentation
MultiMotorController | ( | QVector< PhyDOF * > | motors, |
World * | world | ||
) |
Constructor.
- Parameters:
-
dofs vector of TorqueMotors actuated by this controller
Definition at line 151 of file motorcontrollers.cpp.
References farsa::toRad().
~MultiMotorController | ( | ) | [virtual] |
Destructor.
Definition at line 210 of file motorcontrollers.cpp.
Member Function Documentation
bool checkMotionDone | ( | int | j, |
bool * | flag | ||
) | [virtual] |
see YARP documentation
Definition at line 401 of file motorcontrollers.cpp.
bool checkMotionDone | ( | bool * | flag | ) | [virtual] |
see YARP documentation
Definition at line 411 of file motorcontrollers.cpp.
bool close | ( | ) | [virtual] |
close
Definition at line 269 of file motorcontrollers.cpp.
bool configure | ( | yarp::os::Searchable & | config | ) | [virtual] |
configure
Definition at line 273 of file motorcontrollers.cpp.
bool getAxes | ( | int * | ax | ) | [virtual] |
see YARP documentation
Definition at line 279 of file motorcontrollers.cpp.
bool getControlMode | ( | int | j, |
int * | mode | ||
) | [virtual] |
see YARP documentation
Definition at line 594 of file motorcontrollers.cpp.
bool getControlModes | ( | int * | modes | ) | [virtual] |
see YARP documentation
Definition at line 602 of file motorcontrollers.cpp.
bool getEncoder | ( | int | j, |
double * | v | ||
) | [virtual] |
see YARP documentation
Definition at line 629 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getEncoderAcceleration | ( | int | j, |
double * | spds | ||
) | [virtual] |
see YARP documentation
Definition at line 675 of file motorcontrollers.cpp.
bool getEncoderAccelerations | ( | double * | accs | ) | [virtual] |
see YARP documentation
Definition at line 679 of file motorcontrollers.cpp.
bool getEncoders | ( | double * | encs | ) | [virtual] |
see YARP documentation
Definition at line 641 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getEncoderSpeed | ( | int | j, |
double * | sp | ||
) | [virtual] |
see YARP documentation
Definition at line 652 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getEncoderSpeeds | ( | double * | spds | ) | [virtual] |
see YARP documentation
Definition at line 664 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getLimits | ( | int | axis, |
double * | min, | ||
double * | max | ||
) | [virtual] |
see YARP documentation
Definition at line 697 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getLimitsRaw | ( | int | axis, |
double * | min, | ||
double * | max | ||
) | [virtual] |
see YARP documentation
Definition at line 723 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getRefAcceleration | ( | int | j, |
double * | acc | ||
) | [virtual] |
see YARP documentation
Definition at line 494 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getRefAccelerations | ( | double * | accs | ) | [virtual] |
see YARP documentation
Definition at line 506 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getRefSpeed | ( | int | j, |
double * | ref | ||
) | [virtual] |
see YARP documentation
Definition at line 471 of file motorcontrollers.cpp.
References farsa::toDegree().
bool getRefSpeeds | ( | double * | spds | ) | [virtual] |
see YARP documentation
Definition at line 483 of file motorcontrollers.cpp.
References farsa::toDegree().
QVector<PhyDOF*>& motors | ( | ) | [inline] |
return motors controlled
Definition at line 193 of file motorcontrollers.h.
bool open | ( | yarp::os::Searchable & | config | ) | [virtual] |
open
Definition at line 265 of file motorcontrollers.cpp.
bool positionMove | ( | int | j, |
double | ref | ||
) | [virtual] |
see YARP documentation
Definition at line 289 of file motorcontrollers.cpp.
References farsa::ramp(), and farsa::toRad().
bool positionMove | ( | const double * | refs | ) | [virtual] |
see YARP documentation
Definition at line 318 of file motorcontrollers.cpp.
References farsa::ramp(), and farsa::toRad().
QVector<wPID*>& positionPIDs | ( | ) | [inline] |
return PID used for controlling motors with position modality
Definition at line 197 of file motorcontrollers.h.
bool relativeMove | ( | int | j, |
double | delta | ||
) | [virtual] |
see YARP documentation
Definition at line 346 of file motorcontrollers.cpp.
References farsa::ramp(), and farsa::toRad().
bool relativeMove | ( | const double * | deltas | ) | [virtual] |
see YARP documentation
Definition at line 374 of file motorcontrollers.cpp.
References farsa::ramp(), and farsa::toRad().
bool resetEncoder | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 613 of file motorcontrollers.cpp.
bool resetEncoders | ( | ) | [virtual] |
see YARP documentation
Definition at line 617 of file motorcontrollers.cpp.
bool setEnableLimitsRaw | ( | int | axis, |
bool | b | ||
) |
Enable/disable the limits for the corresponding joint.
Definition at line 739 of file motorcontrollers.cpp.
Referenced by PhyiCub::PhyiCub().
bool setEncoder | ( | int | j, |
double | val | ||
) | [virtual] |
see YARP documentation
Definition at line 621 of file motorcontrollers.cpp.
bool setEncoders | ( | const double * | vals | ) | [virtual] |
see YARP documentation
Definition at line 625 of file motorcontrollers.cpp.
virtual bool setImpedancePositionMode | ( | int | ) | [inline, virtual] |
TOMASSINO: I don't know what to put here, leaving empty.
Definition at line 278 of file motorcontrollers.h.
virtual bool setImpedanceVelocityMode | ( | int | ) | [inline, virtual] |
TOMASSINO: I don't know what to put here, leaving empty.
Definition at line 280 of file motorcontrollers.h.
bool setLimits | ( | int | axis, |
double | min, | ||
double | max | ||
) | [virtual] |
see YARP documentation
Definition at line 683 of file motorcontrollers.cpp.
References farsa::max(), farsa::min(), and farsa::toRad().
Referenced by PhyiCub::PhyiCub().
bool setLimitsRaw | ( | int | axis, |
double | min, | ||
double | max | ||
) | [virtual] |
see YARP documentation
Definition at line 711 of file motorcontrollers.cpp.
References farsa::toRad().
Referenced by PhyiCub::PhyiCub().
bool setOpenLoopMode | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 609 of file motorcontrollers.cpp.
bool setPositionMode | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 564 of file motorcontrollers.cpp.
bool setPositionMode | ( | ) | [virtual] |
see YARP documentation
Definition at line 284 of file motorcontrollers.cpp.
bool setRefAcceleration | ( | int | j, |
double | acc | ||
) | [virtual] |
see YARP documentation
Definition at line 448 of file motorcontrollers.cpp.
References farsa::toRad().
bool setRefAccelerations | ( | const double * | accs | ) | [virtual] |
see YARP documentation
Definition at line 460 of file motorcontrollers.cpp.
References farsa::toRad().
bool setRefSpeed | ( | int | j, |
double | sp | ||
) | [virtual] |
see YARP documentation
Definition at line 423 of file motorcontrollers.cpp.
References farsa::toRad().
bool setRefSpeeds | ( | const double * | spds | ) | [virtual] |
see YARP documentation
Definition at line 436 of file motorcontrollers.cpp.
References farsa::toRad().
bool setTorqueMode | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 586 of file motorcontrollers.cpp.
bool setVelocityMode | ( | ) | [virtual] |
see YARP documentation
Definition at line 542 of file motorcontrollers.cpp.
bool setVelocityMode | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 575 of file motorcontrollers.cpp.
bool stop | ( | int | j | ) | [virtual] |
see YARP documentation
Definition at line 517 of file motorcontrollers.cpp.
Referenced by PhyiCub::configurePosture().
bool stop | ( | ) | [virtual] |
see YARP documentation
Definition at line 530 of file motorcontrollers.cpp.
void update | ( | ) | [virtual] |
apply the torque on the basis of minimum-jerk trajectory
Implements MotorController.
Definition at line 217 of file motorcontrollers.cpp.
References World::timeStep(), and MotorController::world().
Referenced by PhyiCub::preUpdate().
bool velocityMove | ( | int | j, |
double | sp | ||
) | [virtual] |
see YARP documentation
Definition at line 547 of file motorcontrollers.cpp.
References farsa::toRad().
bool velocityMove | ( | const double * | sp | ) | [virtual] |
see YARP documentation
Definition at line 556 of file motorcontrollers.cpp.
References farsa::toRad().
QVector<wPID*>& velocityPIDs | ( | ) | [inline] |
return PID used for controlling motors with velocity modality
Definition at line 205 of file motorcontrollers.h.
The documentation for this class was generated from the following files:
- worldsim/include/motorcontrollers.h
- worldsim/src/motorcontrollers.cpp