Abstract base class for a cartesian controller.

#include <ICartesianControl.h>

Inheritance diagram for roboticslab::ICartesianControl:

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

RPC commands
RPC commands with success/failure response.
virtual bool	stat (std::vector< double > &x, int state=nullptr, double timestamp=nullptr)=0
	Current state and position.

virtual bool	inv (const std::vector< double > &xd, std::vector< double > &q)=0
	Inverse kinematics.

virtual bool	movj (const std::vector< double > &xd)=0
	Move in joint space, absolute coordinates.

virtual bool	relj (const std::vector< double > &xd)=0
	Move in joint space, relative coordinates.

virtual bool	movl (const std::vector< double > &xd)=0
	Linear move to target position.

virtual bool	movv (const std::vector< double > &xdotd)=0
	Linear move with given velocity.

virtual bool	gcmp ()=0
	Gravity compensation.

virtual bool	forc (const std::vector< double > &fd)=0
	Force control.

virtual bool	stopControl ()=0
	Stop control.

virtual bool	wait (double timeout=0.0)=0
	Wait until completion.

virtual bool	tool (const std::vector< double > &x)=0
	Change tool.

virtual bool	act (int 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 bool	setParameter (int vocab, double value)=0
	Set a configuration parameter.

virtual bool	getParameter (int vocab, double *value)=0
	Retrieve a configuration parameter.

virtual bool	setParameters (const std::map< int, double > &params)=0
	Set multiple configuration parameters.

virtual bool	getParameters (std::map< int, double > &params)=0
	Retrieve multiple configuration parameters.

Member Function Documentation

◆ act()

virtual bool roboticslab::ICartesianControl::act ( int command )

pure virtual

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

Parameters

command One of available actuator vocabs.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ forc()

virtual bool roboticslab::ICartesianControl::forc ( 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, and CartesianControlClient.

◆ gcmp()

virtual bool roboticslab::ICartesianControl::gcmp ( )

pure virtual

Enable gravity compensation.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ getParameter()

virtual bool roboticslab::ICartesianControl::getParameter	(	int	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, and CartesianControlClient.

◆ getParameters()

virtual bool roboticslab::ICartesianControl::getParameters ( std::map< int, 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

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ inv()

virtual bool roboticslab::ICartesianControl::inv	(	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, and CartesianControlClient.

◆ movj()

virtual bool roboticslab::ICartesianControl::movj ( 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).

See also: relj (relative coordinates)

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ movl()

virtual bool roboticslab::ICartesianControl::movl ( 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, and CartesianControlClient.

◆ movv()

virtual bool roboticslab::ICartesianControl::movv ( 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, and CartesianControlClient.

◆ 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, and CartesianControlClient.

◆ relj()

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

pure virtual

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

Parameters

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

See also: movj (absolute coordinates)

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ setParameter()

virtual bool roboticslab::ICartesianControl::setParameter	(	int	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, and CartesianControlClient.

◆ setParameters()

virtual bool roboticslab::ICartesianControl::setParameters ( const std::map< int, 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

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ stat()

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

pure virtual

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

Parameters

x	6-element vector describing current position in cartesian space; first three elements denote translation (meters), last three denote rotation in scaled axis-angle representation (radians).
state	Identifier for a cartesian control vocab.
timestamp	Remote encoder acquisition time.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ stopControl()

virtual bool roboticslab::ICartesianControl::stopControl ( )

pure virtual

Halt current control loop if any and cease movement.

Returns: true on success, false otherwise

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ tool()

virtual bool roboticslab::ICartesianControl::tool ( 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, and CartesianControlClient.

◆ 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, and CartesianControlClient.

◆ wait()

virtual bool roboticslab::ICartesianControl::wait ( double timeout = 0.0 )

pure virtual

Block execution until the movement is completed, errors occur or timeout is reached.

Parameters

timeout Timeout in seconds, '0.0' means no timeout.

Returns: true on success, false if errors occurred during the execution of the trajectory

Implemented in BasicCartesianControl, and CartesianControlClient.

◆ 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, and CartesianControlClient.

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

libraries/YarpPlugins/ICartesianControl.h

Public Member Functions

Member Function Documentation

◆ act()

◆ forc()

◆ gcmp()

◆ getParameter()

◆ getParameters()

◆ inv()

◆ movj()

◆ movl()

◆ movv()

◆ pose()

◆ relj()

◆ setParameter()

◆ setParameters()

◆ stat()

◆ stopControl()

◆ tool()

◆ twist()

◆ wait()

◆ wrench()