#include <AMJointControlAcceleration.h>

Inheritance diagram for Rcs::AMJointControlAcceleration:

Collaboration diagram for Rcs::AMJointControlAcceleration:

[legend]

Public Member Functions
	AMJointControlAcceleration (RcsGraph *graph)

virtual	~AMJointControlAcceleration ()

virtual ActionModel *	clone (RcsGraph *newGraph) const

virtual void	computeCommand (MatNd q_des, MatNd q_dot_des, MatNd T_des, const MatNd action, double dt)

virtual void	getMinMax (double min, double max) const

virtual void	getStableAction (MatNd *action) const

Public Member Functions inherited from Rcs::AMJointControl
	AMJointControl (RcsGraph *graph)

virtual	~AMJointControl ()

virtual unsigned int	getDim () const

Public Member Functions inherited from Rcs::ActionModel
	ActionModel (RcsGraph *graph)

virtual	~ActionModel ()

ActionModel *	clone () const

virtual void	reset ()

RcsGraph *	getGraph ()

void	setGraph (RcsGraph *newGraph)

virtual ActionModel *	getWrappedActionModel () const

const ActionModel *	unwrapAll () const

ActionModel *	unwrapAll ()

template<typename AM >
const AM *	unwrap () const

template<typename AM >
AM *	unwrap ()

Public Member Functions inherited from Rcs::BoxSpaceProvider
	BoxSpaceProvider ()

virtual	~BoxSpaceProvider ()

	BoxSpaceProvider (const BoxSpaceProvider &)=delete

BoxSpaceProvider &	operator= (const BoxSpaceProvider &)=delete

	BoxSpaceProvider (BoxSpaceProvider &&)=delete

BoxSpaceProvider &	operator= (BoxSpaceProvider &&)=delete

const BoxSpace *	getSpace () const

virtual std::vector< std::string >	getNames () const

Private Attributes
MatNd *	M

MatNd *	h

MatNd *	F_gravity

Additional Inherited Members
Protected Attributes inherited from Rcs::ActionModel
RcsGraph *	graph

Detailed Description

Directly controls the acceleration of unconstrained joints of the graph.

The action acceleration commands are converted to joint torques using inverse dynamics and augmented with gravity compensation.

Definition at line 45 of file AMJointControlAcceleration.h.

Constructor & Destructor Documentation

◆ AMJointControlAcceleration()

Rcs::AMJointControlAcceleration::AMJointControlAcceleration ( RcsGraph * graph )

explicit

Constructor

Parameters

graph graph being commanded

Definition at line 45 of file AMJointControlAcceleration.cpp.

◆ ~AMJointControlAcceleration()

Rcs::AMJointControlAcceleration::~AMJointControlAcceleration ( )

virtual

Definition at line 65 of file AMJointControlAcceleration.cpp.

Member Function Documentation

◆ clone()

ActionModel * Rcs::AMJointControlAcceleration::clone ( RcsGraph * newGraph ) const

virtual

Create a deep copy of this action model. The graph the action model operates on is replaced with newGraph.

Parameters

newGraph optionally, replace the graph used with newGraph.

Returns: deep copy with new graph.

Implements Rcs::ActionModel.

Definition at line 111 of file AMJointControlAcceleration.cpp.

◆ computeCommand()

void Rcs::AMJointControlAcceleration::computeCommand	(	MatNd *	q_des,
		MatNd *	q_dot_des,
		MatNd *	T_des,
		const MatNd *	action,
		double	dt
	)

virtual

Compute the joint commands from a specified action and the current state.

Parameters

[out]	q_des	desired joint positions
[out]	q_dot_des	desired joint velocities
[out]	T_des	desired joint torques
[in]	action	input action values
	dt	difference in time since the last call.

Implements Rcs::ActionModel.

Definition at line 73 of file AMJointControlAcceleration.cpp.

◆ getMinMax()

void Rcs::AMJointControlAcceleration::getMinMax	(	double *	min,
		double *	max
	)		const

virtual

Provides minimum and maximum values for the space.

The passed arrays will be large enough to hold getDim() values.

Parameters

[out]	min	minimum value storage
[out]	max	maximum value storage

Implements Rcs::BoxSpaceProvider.

Definition at line 99 of file AMJointControlAcceleration.cpp.

◆ getStableAction()

void Rcs::AMJointControlAcceleration::getStableAction ( MatNd * action ) const

virtual

Obtain action values which would keep the system in the current state. For action variables which are velocities or accelerations, this should be 0. For action variables which are positions, this should be the current position.

Parameters

[out] action matrix to write the values into

Implements Rcs::ActionModel.

Definition at line 105 of file AMJointControlAcceleration.cpp.