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	Streaming { NOT_SET = yarp::os::createVocab32('n','s','e','t') , 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.
using	config_value_t = std::variant< double, yarp::conf::vocab32_t >

using	config_map_t = std::map< Config, config_value_t >

virtual yarp::dev::ReturnValue	setParameter (Config vocab, config_value_t value)=0
	Set a configuration parameter.

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

virtual yarp::dev::ReturnValue	setParameters (const config_map_t &params)=0
	Set multiple configuration parameters.

virtual yarp::dev::ReturnValue	getParameters (config_map_t &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 [s].
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.

◆ Streaming

enum class roboticslab::ICartesianControl::Streaming

strong

Used by configuration accessors to preset streaming commands.

Enumerator
NOT_SET	Streaming command not set.
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,
		config_value_t &	value
	)

pure virtual

Ask the controller to retrieve a parameter of 'double' or 'vocab32_t' type.

Parameters

vocab	YARP-encoded vocab (parameter key).
value	Parameter value encoded as a double or vocab32_t.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ getParameters()

virtual yarp::dev::ReturnValue roboticslab::ICartesianControl::getParameters ( config_map_t & 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 encoded as double or vocab32_t.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ 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,
		config_value_t	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 config_map_t & 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

Implemented in BasicCartesianControl, CartesianControlClient, and CartesianControlClientROS2.

◆ 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

Configuration accessors

Member Enumeration Documentation

◆ Actuator

◆ Config

◆ Mode

◆ Streaming

◆ Vocabs

Member Function Documentation

◆ actuateTool()

◆ changeTool()

◆ forceControl()

◆ getParameter()

◆ getParameters()

◆ getState()

◆ gravityCompensation()

◆ moveJoint()

◆ moveLinear()

◆ moveVelocity()

◆ pose()

◆ setParameter()

◆ setParameters()

◆ solvePose()

◆ stopControl()

◆ twist()

◆ wrench()