Produces motion in the direction of an externally applied force measured by a force-torque sensor (pretty much mimicking a classical gravity compensation app).

#include <FtCompensation.hpp>

Inheritance diagram for roboticslab::FtCompensation:

Public Member Functions
bool	configure (yarp::os::ResourceFinder &rf) override

bool	updateModule () override

bool	interruptModule () override

double	getPeriod () override

bool	close () override

Protected Member Functions
void	run () override

Private Types
using	cartesian_cmd = void(ICartesianControl::*)(const std::vector< double > &)

Private Member Functions
bool	readSensor (KDL::Wrench &wrench) const

bool	compensateTool (KDL::Wrench &wrench) const

bool	applyImpedance (KDL::Wrench &wrench)

Private Attributes
yarp::dev::PolyDriver	cartesianDevice

ICartesianControl *	iCartesianControl

int	sensorIndex

yarp::dev::PolyDriver	sensorDevice

yarp::dev::ISixAxisForceTorqueSensors *	sensor

KDL::Rotation	R_N_sensor

KDL::Vector	toolCoM_N

KDL::Wrench	toolWeight_0

KDL::Wrench	initialOffset

KDL::Frame	initialPose

KDL::Frame	previousPose

cartesian_cmd	command

bool	dryRun

bool	usingTool

bool	enableImpedance

double	linGain

double	rotGain

double	linStiffness

double	rotStiffness

double	linDamping

double	rotDamping

double	forceDeadband

double	torqueDeadband

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

programs/ftCompensation/FtCompensation.hpp
programs/ftCompensation/FtCompensation.cpp

Public Member Functions

Protected Member Functions

Private Types

Private Member Functions

Private Attributes