grl::InverseKinematicsController Struct Reference

#include <GrlVFController.hpp>

Inheritance diagram for grl::InverseKinematicsController:

Collaboration diagram for grl::InverseKinematicsController:

Public Types
enum	GrlVFControllerParamsIndex {   currentKinematicsName, desiredKinematicsName, followVFName, followVFNumRows,   jointVelocityLimitsVFName, JointVelocityLimitsVFNumRows, JointPositionVFName, JointPositionNumRows }
typedef std::tuple< std::string,std::string,std::string,std::size_t,std::string,std::size_t,std::string,std::size_t >	Params
typedef mtsVFController	parent_type

Public Member Functions
void	construct ()
Params	defaultParams ()
	InverseKinematicsController (size_t num_joints, mtsVFBase::CONTROLLERMODE cm)
	InverseKinematicsController ()

Public Attributes
std::unique_ptr< prmKinematicsState >	currentKinematicsStateP_
	This will hold the Jacobian. More...
std::unique_ptr< prmKinematicsState >	desiredKinematicsStateP_
	This will hold the xyz position and the rotation of where I want to go. More...
std::unique_ptr< mtsVFDataBase >	followVFP_
std::unique_ptr< mtsVFDataJointLimits >	jointPositionLimitsVFP_
	joints cannot go to certain position More...
std::unique_ptr< mtsVFDataJointLimits >	jointVelocityLimitsVFP_
	need velocity limits for the joints More...

Static Public Attributes
static const std::size_t	totalRows = 7

Detailed Description

create the data object and put the data inside

Todo:

move to own header with no vrep dependencies

figure out how the interface for following the motion will work VFControlller stands for "virtual fixtures" controller

Definition at line 17 of file GrlVFController.hpp.

Member Typedef Documentation

Params

typedef std::tuple< std::string ,std::string ,std::string ,std::size_t ,std::string ,std::size_t ,std::string ,std::size_t > grl::InverseKinematicsController::Params

Definition at line 41 of file GrlVFController.hpp.

parent_type

typedef mtsVFController grl::InverseKinematicsController::parent_type

Definition at line 19 of file GrlVFController.hpp.

Member Enumeration Documentation

GrlVFControllerParamsIndex

enum grl::InverseKinematicsController::GrlVFControllerParamsIndex

Enumerator
currentKinematicsName
desiredKinematicsName
followVFName
followVFNumRows
jointVelocityLimitsVFName
JointVelocityLimitsVFNumRows
JointPositionVFName
JointPositionNumRows

Definition at line 21 of file GrlVFController.hpp.

Constructor & Destructor Documentation

InverseKinematicsController() [1/2]

grl::InverseKinematicsController::InverseKinematicsController ( size_t  num_joints, mtsVFBase::CONTROLLERMODE  cm  )

inline

Todo:

this is just done quickly, make it and the constructor be done right

Definition at line 48 of file GrlVFController.hpp.

InverseKinematicsController() [2/2]

grl::InverseKinematicsController::InverseKinematicsController ( )

inline

Definition at line 64 of file GrlVFController.hpp.

Member Function Documentation

construct()

void grl::InverseKinematicsController::construct ( )

inline

Definition at line 69 of file GrlVFController.hpp.

defaultParams()

Params grl::InverseKinematicsController::defaultParams ( )

inline

Definition at line 59 of file GrlVFController.hpp.

Member Data Documentation

currentKinematicsStateP_

std::unique_ptr<prmKinematicsState> grl::InverseKinematicsController::currentKinematicsStateP_

This will hold the Jacobian.

Definition at line 73 of file GrlVFController.hpp.

desiredKinematicsStateP_

std::unique_ptr<prmKinematicsState> grl::InverseKinematicsController::desiredKinematicsStateP_

This will hold the xyz position and the rotation of where I want to go.

Definition at line 76 of file GrlVFController.hpp.

followVFP_

std::unique_ptr<mtsVFDataBase> grl::InverseKinematicsController::followVFP_

Todo:

will want to use an addVFFollow member function once it is added in

Definition at line 80 of file GrlVFController.hpp.

jointPositionLimitsVFP_

std::unique_ptr<mtsVFDataJointLimits> grl::InverseKinematicsController::jointPositionLimitsVFP_

joints cannot go to certain position

Definition at line 85 of file GrlVFController.hpp.

jointVelocityLimitsVFP_

std::unique_ptr<mtsVFDataJointLimits> grl::InverseKinematicsController::jointVelocityLimitsVFP_

need velocity limits for the joints

Definition at line 83 of file GrlVFController.hpp.

totalRows

const std::size_t grl::InverseKinematicsController::totalRows = 7

static

Todo:

maybe parameterize this somehow

Definition at line 45 of file GrlVFController.hpp.

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

• GrlVFController.hpp