Abstract base class for a cartesian controller.

#include <ICartesianControl.h>

Inheritance diagram for roboticslab::ICartesianControl:

Classes
struct	ControllerState
	Controller state structure. More...

Public Types
enum class	Vocabs { OK = yarp::os::createVocab32('o','k') , FAILED = yarp::os::createVocab32('f','a','i','l') , SET = yarp::os::createVocab32('s','e','t') , GET = yarp::os::createVocab32('g','e','t') , NOT_SET = yarp::os::createVocab32('n','s','e','t') }
	General-purpose vocabs. More...

enum class	RPC { STATE = yarp::os::createVocab32('s','t','a','t') , INV = yarp::os::createVocab32('i','n','v') , MOVEJ = yarp::os::createVocab32('m','o','v','j') , MOVEL = yarp::os::createVocab32('m','o','v','l') , MOVEV = yarp::os::createVocab32('m','o','v','v') , GCMP = yarp::os::createVocab32('g','c','m','p') , FORCE = yarp::os::createVocab32('f','o','r','c') , STOP = yarp::os::createVocab32('s','t','o','p') , TOOL = yarp::os::createVocab32('t','o','o','l') , ACT = yarp::os::createVocab32('a','c','t') }
	RPC vocabs. More...

enum class	Streaming { POSE = yarp::os::createVocab32('p','o','s','e') , TWIST = yarp::os::createVocab32('t','w','s','t') , WRENCH = yarp::os::createVocab32('w','r','n','c') }
	Streaming vocabs. More...

enum class	Mode { NONE = yarp::os::createVocab32('n','c','t','l') , MOVEJ = yarp::os::createVocab32('m','o','v','j') , MOVEL = yarp::os::createVocab32('m','o','v','l') , MOVEV = yarp::os::createVocab32('m','o','v','v') , GCMP = yarp::os::createVocab32('g','c','m','p') , FORCE = yarp::os::createVocab32('f','o','r','c') }
	Controller mode vocabs. More...

enum class	Actuator { NONE = yarp::os::createVocab32('a','c','n') , CLOSE = yarp::os::createVocab32('a','c','c','g') , OPEN = yarp::os::createVocab32('a','c','o','g') , STOP = yarp::os::createVocab32('a','c','s','g') , GENERIC = yarp::os::createVocab32('a','c','g') }
	Actuator control vocabs. More...

enum class	Config { GAIN = yarp::os::createVocab32('c','p','c','g') , TRAJ_DURATION = yarp::os::createVocab32('c','p','t','d') , TRAJ_REF_SPD = yarp::os::createVocab32('c','p','t','s') , TRAJ_REF_ACC = yarp::os::createVocab32('c','p','t','a') , CMC_PERIOD = yarp::os::createVocab32('c','p','c','p') , FRAME = yarp::os::createVocab32('c','p','f') , STREAMING_CMD = yarp::os::createVocab32('c','p','s','c') }
	Controller configuration vocabs. More...

Public Member Functions
virtual	~ICartesianControl ()=default
	Destructor.

virtual bool	stat (std::vector< double > &x, int state=nullptr, double timestamp=nullptr)

virtual bool	inv (const std::vector< double > &xd, std::vector< double > &q)

virtual bool	movj (const std::vector< double > &xd)

virtual bool	relj (const std::vector< double > &xd)

virtual bool	movl (const std::vector< double > &xd)

virtual bool	movv (const std::vector< double > &xdotd)

virtual bool	gcmp ()

virtual bool	forc (const std::vector< double > &fd)

virtual bool	wait (double timeout=0.0)

virtual bool	tool (const std::vector< double > &x)

virtual bool	act (int command)

virtual bool	setParameter (int vocab, double value)

virtual bool	getParameter (int vocab, double *value)

virtual bool	setParameters (const std::map< int, double > &params)

virtual bool	getParameters (std::map< int, double > &params)

RPC commands
RPC commands with success/failure response.
virtual yarp::dev::ReturnValue	getState (ControllerState &state)=0
	Current state and position.

virtual yarp::dev::ReturnValue	solvePose (const std::vector< double > &xd, std::vector< double > &q)=0
	Inverse kinematics.

virtual yarp::dev::ReturnValue	moveJoint (const std::vector< double > &xd)=0
	Move in joint space.

virtual yarp::dev::ReturnValue	moveLinear (const std::vector< double > &xd)=0
	Linear move to target position.

virtual yarp::dev::ReturnValue	moveVelocity (const std::vector< double > &xdotd)=0
	Linear move with given velocity.

virtual yarp::dev::ReturnValue	gravityCompensation ()=0
	Gravity compensation.

virtual yarp::dev::ReturnValue	forceControl (const std::vector< double > &fd)=0
	Force control.

virtual yarp::dev::ReturnValue	stopControl ()=0
	Stop control.

virtual yarp::dev::ReturnValue	changeTool (const std::vector< double > &x)=0
	Change tool.

virtual yarp::dev::ReturnValue	actuateTool (Actuator command)=0
	Actuate tool.

Streaming commands
High-frequency streaming commands, no acknowledge.
virtual void	pose (const std::vector< double > &x)=0
	Achieve pose.

virtual void	twist (const std::vector< double > &xdot)=0
	Instantaneous velocity steps.

virtual void	wrench (const std::vector< double > &w)=0
	Exert force.

Configuration accessors
Configuration setters and getters with success/failure response.
virtual yarp::dev::ReturnValue	setParameter (Config vocab, double value)=0
	Set a configuration parameter.

virtual yarp::dev::ReturnValue	getParameter (Config vocab, double *value)=0
	Retrieve a configuration parameter.

virtual yarp::dev::ReturnValue	setParameters (const std::map< Config, double > &params)=0
	Set multiple configuration parameters.

virtual yarp::dev::ReturnValue	getParameters (std::map< Config, double > &params)=0
	Retrieve multiple configuration parameters.

Member Enumeration Documentation

◆ Actuator

enum class roboticslab::ICartesianControl::Actuator

strong

Used by ICartesianControl::act to control the actuator.

Enumerator
NONE	No actuator or no action.
CLOSE	Close gripper.
OPEN	Open gripper.
STOP	Stop gripper.
GENERIC	Generic actuator.

◆ Config

enum class roboticslab::ICartesianControl::Config

strong

Used by configuration accessors.

Enumerator
GAIN	Controller gain.
TRAJ_DURATION	Trajectory duration [s].
TRAJ_REF_SPD	Trajectory reference speed [m/s].
TRAJ_REF_ACC	Trajectory reference acceleration [m/s^2].
CMC_PERIOD	CMC period [ms].
FRAME	Reference frame.
STREAMING_CMD	Preset streaming command.

◆ Mode

enum class roboticslab::ICartesianControl::Mode

strong

Used by ICartesianControl::getState to reflect current control mode.

Enumerator
NONE	Not controlling.
MOVEJ	Executing MOVEJ command.
MOVEL	Executing MOVEL command.
MOVEV	Executing MOVEV command.
GCMP	Executing GCMP command.
FORCE	Executing FORCE command.

◆ RPC

enum class roboticslab::ICartesianControl::RPC

strong

Used by RPC commands.

Enumerator
STATE	Current state and position.
INV	Inverse kinematics.
MOVEJ	Move in joint space, absolute coordinates.
MOVEL	Linear move to target position.
MOVEV	Linear move with given velocity.
GCMP	Gravity compensation.
FORCE	Force control.
STOP	Stop control.
TOOL	Change tool.
ACT	Actuate tool.

◆ Streaming

enum class roboticslab::ICartesianControl::Streaming

strong

Used by streaming commands.

Enumerator
POSE	Achieve pose.
TWIST	Instantaneous velocity steps.
WRENCH	Exert force.

◆ Vocabs

enum class roboticslab::ICartesianControl::Vocabs

strong

Used in acknowledge responses, configuration accessors, etc..

Enumerator
OK	Success.
FAILED	Failure.
SET	Setter.
GET	Getter.
NOT_SET	State: not set.

Member Function Documentation

◆ actuateTool()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::actuateTool ( Actuator command )

pure virtual

Send control command to actuate the robot's tool, if available.

Parameters

command One of the available ICartesianControl::Actuator vocabs.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ changeTool()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::changeTool ( const std::vector< double > & x )

pure virtual

Unload current tool if any and append new tool frame to the kinematic chain.

Parameters

x	6-element vector describing new tool tip with regard to current end-effector frame in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ forceControl()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::forceControl ( const std::vector< double > & fd )

pure virtual

Apply desired forces in task space.

Parameters

fd	6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ getParameter()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::getParameter	(	Config	vocab,
		double *	value
	)

pure virtual

Ask the controller to retrieve a parameter of 'double' type.

Parameters

vocab	YARP-encoded vocab (parameter key).
value	Parameter value encoded as a double.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ getParameters()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::getParameters ( std::map< Config, double > & params )

pure virtual

Ask the controller to retrieve all available parameters at once.

Parameters

params Dictionary of YARP-encoded vocabs as keys and their values.

Returns: true on success, false otherwise

◆ getState()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::getState ( ControllerState & state )

pure virtual

Inform on control state, get robot position and perform forward kinematics.

Parameters

state Controller state data.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ gravityCompensation()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::gravityCompensation ( )

pure virtual

Enable gravity compensation.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ moveJoint()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::moveJoint ( const std::vector< double > & xd )

pure virtual

Perform inverse kinematics and move to desired position in joint space using absolute coordinates.

Parameters

xd	6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ moveLinear()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::moveLinear ( const std::vector< double > & xd )

pure virtual

Move to end position along a line trajectory.

Parameters

xd	6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ moveVelocity()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::moveVelocity ( const std::vector< double > & xdotd )

pure virtual

Move along a line with constant velocity.

Parameters

xdotd 6-element vector describing desired velocity in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ pose()

virtual void roboticslab::ICartesianControl::pose ( const std::vector< double > & x )

pure virtual

Move to desired position instantaneously, no further intermediate calculations are expected other than computing the inverse kinematics.

Parameters

x	6-element vector describing desired instantaneous pose in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ setParameter()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::setParameter	(	Config	vocab,
		double	value
	)

pure virtual

Ask the controller to store or update a parameter of 'double' type.

Parameters

vocab	YARP-encoded vocab (parameter key).
value	Parameter value encoded as a double.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ setParameters()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::setParameters ( const std::map< Config, double > & params )

pure virtual

Ask the controller to store or update multiple parameters at once.

Parameters

params Dictionary of YARP-encoded vocabs as keys and their values.

Returns: true on success, false otherwise

◆ solvePose()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::solvePose	(	const std::vector< double > &	xd,
		std::vector< double > &	q
	)

pure virtual

Perform inverse kinematics (using robot position as initial guess), but do not move.

Parameters

xd	6-element vector describing desired position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
q	Vector describing current position in joint space (meters or degrees).

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ stopControl()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::stopControl ( )

pure virtual

Halt current control loop if any and cease movement.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ twist()

virtual void roboticslab::ICartesianControl::twist ( const std::vector< double > & xdot )

pure virtual

Move in instantaneous velocity increments.

Parameters

xdot	6-element vector describing velocity increments in cartesian space; first three elements denote translational velocity (meters/second), last three denote angular velocity (radians/second).

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ wrench()

virtual void roboticslab::ICartesianControl::wrench ( const std::vector< double > & w )

pure virtual

Make the TCP exert the desired force instantaneously.

Parameters

w	6-element vector describing desired force exerted by the TCP in cartesian space; first three elements denote linear force (Newton), last three denote torque (Newton*meters).

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

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

libraries/YarpPlugins/ICartesianControl.h

Classes

Public Types

Public Member Functions

Member Enumeration Documentation

◆ Actuator

◆ Config

◆ Mode

◆ RPC

◆ Streaming

◆ Vocabs

Member Function Documentation

◆ actuateTool()

◆ changeTool()

◆ forceControl()

◆ getParameter()

◆ getParameters()

◆ getState()

◆ gravityCompensation()

◆ moveJoint()

◆ moveLinear()

◆ moveVelocity()

◆ pose()

◆ setParameter()

◆ setParameters()

◆ solvePose()

◆ stopControl()

◆ twist()

◆ wrench()