#include <CRobot.hpp>

Collaboration diagram for scl::CRobot:

Public Member Functions
void	computeServo ()

void	computeDynamics ()

void	computeNonControlOperations ()

void	integrateDynamics ()

sBool	initFromDb (std::string arg_robot_name, CDynamicsBase arg_dynamics, CDynamicsBase arg_integrator)

sBool	init (std::string arg_robot_name, CDynamicsBase arg_dynamics, CDynamicsBase arg_integrator, SRobotParsed arg_robot, SRobotIO arg_io_data, std::vector< SControllerBase * > &arg_ctrls)

sBool	hasBeenInit ()

SRobot *	getData ()

void	setFlagApplyDamping (sBool arg_flag)

sBool	setDamping (const Eigen::VectorXd &arg_d)

void	setFlagApplyGcPosLimits (sBool arg_flag)

sBool	setGcPosLimits (const Eigen::VectorXd &arg_max, const Eigen::VectorXd &arg_min)

void	setFlagApplyActuatorForceLimits (sBool arg_flag)

sBool	setActuatorForceLimits (const Eigen::VectorXd &arg_max, const Eigen::VectorXd &arg_min)

void	setFlagControllerOn (sBool arg_flag)

const Eigen::VectorXd &	getGeneralizedCoordinates ()

const Eigen::VectorXd &	getGeneralizedVelocities ()

const Eigen::VectorXd &	getGeneralizedAccelerations ()

const Eigen::VectorXd &	getGeneralizedForcesMeasured ()

const Eigen::VectorXd &	getGeneralizedForcesCommanded ()

void	setGeneralizedCoordinates (const Eigen::VectorXd &arg_q)

void	setGeneralizedVelocities (const Eigen::VectorXd &arg_dq)

void	setGeneralizedAccelerations (const Eigen::VectorXd &arg_ddq)

void	setGeneralizedForcesMeasured (const Eigen::VectorXd &arg_f)

void	setGeneralizedForcesCommanded (const Eigen::VectorXd &arg_f)

void	setGeneralizedCoordinatesToZero ()

void	setGeneralizedVelocitiesToZero ()

void	setGeneralizedAccelerationsToZero ()

void	setGeneralizedForcesMeasuredToZero ()

void	setGeneralizedForcesCommandedToZero ()

sBool	addController (SControllerBase *arg_ctrl_ds)

CControllerBase *	getControllerCurrent ()

sBool	setControllerCurrent (std::string arg_ctrl_name)

SControllerBase *	getControllerDataStruct (const std::string &arg_ctrl_name)

const CDynamicsBase *	getControllerDynamics ()

sBool	getProportionalGain (Eigen::VectorXd &ret_gains, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	getDerivativeGain (Eigen::VectorXd &ret_gains, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	getIntegralGain (Eigen::VectorXd &ret_gains, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	setProportionalGain (const Eigen::VectorXd &arg_kp, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	setDerivativeGain (const Eigen::VectorXd &arg_kv, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	setIntegralGain (const Eigen::VectorXd &arg_ki, const std::string &arg_ctrl_name="", const std::string &arg_task_name="")

sBool	setLogFile (const std::string &arg_file)

sBool	logState (bool arg_log_gc=true, bool arg_log_gc_matrices=true, bool arg_log_task_matrices=false)

	CRobot ()

virtual	~CRobot ()

Private Attributes
SRobot	data_

SDatabase *	db_

CDynamicsBase *	dynamics_

CDynamicsBase *	integrator_

sutil::CMappedList < std::string, CControllerBase * >	ctrl_

CControllerBase *	ctrl_current_

std::string	log_file_name_

std::fstream	log_file_

sBool	logging_on_

Detailed Description

The one-stop-do-it-all class that encapsulates dynamics, and a controller for a single robot.

Also provides an interface into the underlying shared data structure, the database, which facilitates communication between different modules.

NOTE : This class manages its memory. Add pointers and forget about them!

NOTE : You will, however, have to initialize (by calling the init function) the individual objects yourself.

Constructor & Destructor Documentation

scl::CRobot::CRobot ( )

Constructor sets pointers to NULL

scl::CRobot::~CRobot ( )

virtual

Destructor does nothing

Member Function Documentation

sBool scl::CRobot::addController ( SControllerBase * arg_ctrl_ds )

Adds a controller based on the initialization information passed in a data structure. Does type-checking (the data structure has a type) and initializes an appropriate controller (controllers are derived from the CControllerBase API). Prints a warning if the passed data structure is invalid.

NOTE : init() adds all the specified robot's controllers from the database by default. Ie. It automatically loads controllers defined in the xml file!!

Only use this function for controllers defined "in code"

void scl::CRobot::computeDynamics ( )

Computes the robot's dynamic model. Asserts false in debug mode if something bad happens

void scl::CRobot::computeNonControlOperations ( )

Computes the robot's non-control related operations Asserts false in debug mode if something bad happens

void scl::CRobot::computeServo ( )

Computes the robot's command torques. Asserts false in debug mode if something bad happens

CControllerBase * scl::CRobot::getControllerCurrent ( )

Gets access to the current controller data structure

SControllerBase * scl::CRobot::getControllerDataStruct ( const std::string & arg_ctrl_name )

Gets access to the current controller data structure

const CDynamicsBase* scl::CRobot::getControllerDynamics ( )

inline

Gets access to the current controller's dynamics

SRobot* scl::CRobot::getData ( )

inline

Returns a pointer to the robot's data structure

sBool scl::CRobot::getDerivativeGain	(	Eigen::VectorXd &	ret_gains,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Returns the derivative gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Returns the derivative gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	arg_ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Note: If you modify code here, you will probably also need to modify the same code in the other get gain functions.

sBool scl::CRobot::getIntegralGain	(	Eigen::VectorXd &	ret_gains,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Returns the integral gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Returns the integral gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	arg_ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Note: If you modify code here, you will probably also need to modify the same code in the other get gain functions.

sBool scl::CRobot::getProportionalGain	(	Eigen::VectorXd &	ret_gains,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Returns the proportional gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Returns the proportional gain of a given task in a controller.

Parameters

[out]	ret_gains	The variable into which the gains will be copied
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Note: If you modify code here, you will probably also need to modify the same code in the other get gain functions.

sBool scl::CRobot::hasBeenInit ( )

inline

Initialization state

sBool scl::CRobot::init	(	std::string	arg_robot_name,
		CDynamicsBase *	arg_dynamics,
		CDynamicsBase *	arg_integrator,
		SRobotParsed *	arg_robot,
		SRobotIO *	arg_io_data,
		std::vector< SControllerBase * > &	arg_ctrls
	)

The actual data required to initialize a robot. Initializes the robot:

Verifies that the robot's data in the database is consistent
DELETES all its existing data! (NOTE this carefully!)
Reads the list of available controllers from the database, finds the controllers that match this robot, and initializes them. (a) Creates a controller object for each new controller (b) Adds the controller data-structure to this robot's database data structure (c) Sets the last controller as the current controller (default, can be changed)

sBool scl::CRobot::initFromDb	(	std::string	arg_robot_name,
		CDynamicsBase *	arg_dynamics,
		CDynamicsBase *	arg_integrator
	)

Convenience function. Pulls all the data from the database and calls the other init function.

void scl::CRobot::integrateDynamics ( )

Integrates the robot's dynamics (physics model). By default, it integrates for a time period dt specifiecd in the database

Asserts false in debug mode if something bad happens

sBool scl::CRobot::logState	(	bool	arg_log_gc = `true`,
		bool	arg_log_gc_matrices = `true`,
		bool	arg_log_task_matrices = `false`
	)

Logs data to the file. Pass flags to control the data written to the file.

Logs data to the file

sBool scl::CRobot::setActuatorForceLimits	(	const Eigen::VectorXd &	arg_max,
		const Eigen::VectorXd &	arg_min
	)

Sets the actuator limits for each gc dof WARNING: This will overwrite the values read in from the config file

Sets the actuator limits for each actuator

sBool scl::CRobot::setControllerCurrent ( std::string arg_ctrl_name )

Selects the passed controller if it exists and has been initialized Returns false if the controller doesn't exist

sBool scl::CRobot::setDamping ( const Eigen::VectorXd & arg_d )

Sets the velocity damping for each gc dof WARNING: This will overwrite the values read in from the config file

Sets the velocity damping for each gc dof

sBool scl::CRobot::setDerivativeGain	(	const Eigen::VectorXd &	arg_kv,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Sets the derivative gain of a given task in a controller.

Parameters

[in]	arg_kv	The gains to be set
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Sets the derivative gain of a given task in a controller.

Parameters

[in]	arg_kv	The gains to be set
[in]	arg_ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

void scl::CRobot::setFlagApplyActuatorForceLimits ( sBool arg_flag )

inline

Turn the actuator limits on or off. Simulates physical force limits of the actuators

void scl::CRobot::setFlagApplyDamping ( sBool arg_flag )

inline

Turn velocity damping on or off. Turning it on will make the robot lose some (1% default) velocity each second

void scl::CRobot::setFlagApplyGcPosLimits ( sBool arg_flag )

inline

Turn gc dof limits on or off. Turning it on will make the robot lose 99% velocity and all acceleration for a gc dof if it collides with its limits

void scl::CRobot::setFlagControllerOn ( sBool arg_flag )

inline

Turn the controller on or off. Controller sends zero command gc forces if off.

sBool scl::CRobot::setGcPosLimits	(	const Eigen::VectorXd &	arg_max,
		const Eigen::VectorXd &	arg_min
	)

Sets the velocity damping for each gc dof WARNING: This will overwrite the values read in from the config file

sBool scl::CRobot::setIntegralGain	(	const Eigen::VectorXd &	arg_ki,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Sets the integral gain of a given task in a controller.

Parameters

[in]	arg_ki	The gains to be set
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Sets the derivative gain of a given task in a controller.

Parameters

[in]	arg_kv	The gains to be set
[in]	arg_ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

sBool scl::CRobot::setLogFile ( const std::string & arg_file )

Sets up logging to a file. The files are opened in append+text mode and the state is written to them every time the logState() function is called.

Sets up logging to a file

sBool scl::CRobot::setProportionalGain	(	const Eigen::VectorXd &	arg_kp,
		const std::string &	arg_ctrl_name = `""`,
		const std::string &	arg_task_name = `""`
	)

Sets the proportional gain of a given task in a controller.

Parameters

[in]	arg_gains	The gains to be set
[in]	ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Sets the proportional gain of a given task in a controller.

Parameters

[in]	arg_gains	The gains to be set
[in]	arg_ctrl_name	The controller's name. If no controller name is specified, it picks the current controller by default.
[in]	task_name	The task for which the gains will be selected. Not reqd for gen coord controllers.

Member Data Documentation

sutil::CMappedList<std::string,CControllerBase*> scl::CRobot::ctrl_

private

A mapped list of controllers that can control this robot.

CControllerBase* scl::CRobot::ctrl_current_

private

The current controllers controlling this robot.

SRobot scl::CRobot::data_

private

The data is available in the database for other parts of the program to see.

Programs can use it to interact with controllers that don't support polling data structures in the database.

However, the recommended way is to communicate through the I/O data section of the database.

CDynamicsBase* scl::CRobot::dynamics_

private

A dynamics object, which implements all the dynamics matrix computation algorithms.

NOTE : CRobot will deallocate this pointer later.

CDynamicsBase* scl::CRobot::integrator_

private

A dynamics object, which implements a dynamics integrator.

NOTE : CRobot will deallocate this pointer later. NOTE : This may be the same as the dynamics_ object.

std::string scl::CRobot::log_file_name_

private

For logging stuff to a file.

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

/home/samir/Code/control/scl.git/src/scl/robot/CRobot.hpp
/home/samir/Code/control/scl.git/src/scl/robot/CRobot.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation