Interface for a cartesian controller. More...

#include <yarp/dev/CartesianControl.h>

Public Member Functions
virtual	~ICartesianControl ()
	Destructor. More...

virtual bool	setTrackingMode (const bool f)=0
	Set the controller in tracking or non-tracking mode. More...

virtual bool	getTrackingMode (bool *f)=0
	Get the current controller mode. More...

virtual bool	setReferenceMode (const bool f)=0
	Ask the controller to close the loop with the low-level joints set-points in place of the actual encoders feedback. More...

virtual bool	getReferenceMode (bool *f)=0
	Get the current controller reference mode. More...

virtual bool	setPosePriority (const std::string &p)=0
	Ask the controller to weigh more either the position or the orientation while reaching in full pose. More...

virtual bool	getPosePriority (std::string &p)=0
	Get the current pose priority. More...

virtual bool	getPose (yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL)=0
	Get the current pose of the end-effector. More...

virtual bool	getPose (const int axis, yarp::sig::Vector &x, yarp::sig::Vector &o, yarp::os::Stamp *stamp=NULL)=0
	Get the current pose of the specified link belonging to the kinematic chain. More...

virtual bool	goToPose (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, const double t=0.0)=0
	Move the end-effector to a specified pose (position and orientation) in cartesian space. More...

virtual bool	goToPosition (const yarp::sig::Vector &xd, const double t=0.0)=0
	Move the end-effector to a specified position in cartesian space, ignore the orientation. More...

virtual bool	goToPoseSync (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, const double t=0.0)=0
	Move the end-effector to a specified pose (position and orientation) in cartesian space. More...

virtual bool	goToPositionSync (const yarp::sig::Vector &xd, const double t=0.0)=0
	Move the end-effector to a specified position in cartesian space, ignore the orientation. More...

virtual bool	getDesired (yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)=0
	Get the actual desired pose and joints configuration as result of kinematic inversion. More...

virtual bool	askForPose (const yarp::sig::Vector &xd, const yarp::sig::Vector &od, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)=0
	Ask for inverting a given pose without actually moving there. More...

virtual bool	askForPose (const yarp::sig::Vector &q0, const yarp::sig::Vector &xd, const yarp::sig::Vector &od, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)=0
	Ask for inverting a given pose without actually moving there. More...

virtual bool	askForPosition (const yarp::sig::Vector &xd, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)=0
	Ask for inverting a given position without actually moving there. More...

virtual bool	askForPosition (const yarp::sig::Vector &q0, const yarp::sig::Vector &xd, yarp::sig::Vector &xdhat, yarp::sig::Vector &odhat, yarp::sig::Vector &qdhat)=0
	Ask for inverting a given position without actually moving there. More...

virtual bool	getDOF (yarp::sig::Vector &curDof)=0
	Get the current DOF configuration of the limb. More...

virtual bool	setDOF (const yarp::sig::Vector &newDof, yarp::sig::Vector &curDof)=0
	Set a new DOF configuration for the limb. More...

virtual bool	getRestPos (yarp::sig::Vector &curRestPos)=0
	Get the current joints rest position. More...

virtual bool	setRestPos (const yarp::sig::Vector &newRestPos, yarp::sig::Vector &curRestPos)=0
	Set a new joints rest position. More...

virtual bool	getRestWeights (yarp::sig::Vector &curRestWeights)=0
	Get the current joints rest weights. More...

virtual bool	setRestWeights (const yarp::sig::Vector &newRestWeights, yarp::sig::Vector &curRestWeights)=0
	Set a new joints rest position. More...

virtual bool	getLimits (const int axis, double min, double max)=0
	Get the current range for the axis. More...

virtual bool	setLimits (const int axis, const double min, const double max)=0
	Set new range for the axis. More...

virtual bool	getTrajTime (double *t)=0
	Get the current trajectory duration. More...

virtual bool	setTrajTime (const double t)=0
	Set the duration of the trajectory. More...

virtual bool	getInTargetTol (double *tol)=0
	Return tolerance for in-target check. More...

virtual bool	setInTargetTol (const double tol)=0
	Set tolerance for in-target check. More...

virtual bool	getJointsVelocities (yarp::sig::Vector &qdot)=0
	Return joints velocities. More...

virtual bool	getTaskVelocities (yarp::sig::Vector &xdot, yarp::sig::Vector &odot)=0
	Return velocities of the end-effector in the task space. More...

virtual bool	setTaskVelocities (const yarp::sig::Vector &xdot, const yarp::sig::Vector &odot)=0
	Set the reference velocities of the end-effector in the task space. More...

virtual bool	attachTipFrame (const yarp::sig::Vector &x, const yarp::sig::Vector &o)=0
	Attach a tip frame to the end-effector. More...

virtual bool	getTipFrame (yarp::sig::Vector &x, yarp::sig::Vector &o)=0
	Retrieve the tip frame currently attached to the end-effector. More...

virtual bool	removeTipFrame ()=0
	Remove the tip frame currently attached to the end-effector. More...

virtual bool	checkMotionDone (bool *f)=0
	Check once if the current trajectory is terminated. More...

virtual bool	waitMotionDone (const double period=0.1, const double timeout=0.0)=0
	Wait until the current trajectory is terminated. More...

virtual bool	stopControl ()=0
	Ask for an immediate stop motion. More...

virtual bool	storeContext (int *id)=0
	Store the controller context. More...

virtual bool	restoreContext (const int id)=0
	Restore the controller context previously stored. More...

virtual bool	deleteContext (const int id)=0
	Delete a specified controller context. More...

virtual bool	getInfo (yarp::os::Bottle &info)=0
	Return useful info on the operating state of the controller. More...

virtual bool	registerEvent (yarp::dev::CartesianEvent &event)=0
	Register an event. More...

virtual bool	unregisterEvent (yarp::dev::CartesianEvent &event)=0
	Unregister an event. More...

virtual bool	tweakSet (const yarp::os::Bottle &options)=0
	Tweak low-level controller's parameters. More...

virtual bool	tweakGet (yarp::os::Bottle &options)=0
	Return low-level controller's parameters. More...

Detailed Description

Interface for a cartesian controller.

Please read carefully the documentation.

Definition at line 128 of file CartesianControl.h.

Constructor & Destructor Documentation

◆ ~ICartesianControl()

yarp::dev::ICartesianControl::~ICartesianControl ( )

virtualdefault

Destructor.

Member Function Documentation

◆ askForPose() [1/2]

virtual bool yarp::dev::ICartesianControl::askForPose	(	const yarp::sig::Vector &	q0,
		const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

pure virtual

Ask for inverting a given pose without actually moving there.

[wait for reply]

Parameters

q0	a vector of length DOF which contains the starting joints configuration [deg], made compatible with the chain.
xd	a 3-d vector which contains the desired position x,y,z [m].
od	a 4-d vector which contains the desired orientation using axis-angle representation xa,ya, za,theta [m],[rad].
xdhat	a 3-d vector which is filled with the final position x,y,z [m]; it may differ from the commanded xd.
odhat	a 4-d vector which is filled with the final orientation using axis-angle representation xa,ya, za,theta [m],[rad]; it may differ from the commanded od.
qdhat	the complete joints configuration through which the couple (xdhat,odhat) is achieved [deg].

Returns: true/false on success/failure.

◆ askForPose() [2/2]

virtual bool yarp::dev::ICartesianControl::askForPose	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

pure virtual

Ask for inverting a given pose without actually moving there.

[wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
od	a 4-d vector which contains the desired orientation using axis-angle representation xa,ya, za,theta [m],[rad].
xdhat	a 3-d vector which is filled with the final position x,y,z [m]; it may differ from the commanded xd.
odhat	a 4-d vector which is filled with the final orientation using axis-angle representation xa,ya, za,theta [m],[rad]; it may differ from the commanded od.
qdhat	the complete joints configuration through which the couple (xdhat,odhat) is achieved [deg].

Returns: true/false on success/failure.

◆ askForPosition() [1/2]

virtual bool yarp::dev::ICartesianControl::askForPosition	(	const yarp::sig::Vector &	q0,
		const yarp::sig::Vector &	xd,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

pure virtual

Ask for inverting a given position without actually moving there.

[wait for reply]

Parameters

q0	a vector of length DOF which contains the starting joints configuration [deg], made compatible with the chain.
xd	a 3-d vector which contains the desired position x,y,z [m].
xdhat	a 3-d vector which is filled with the final position x,y,z [m]; it may differ from the commanded xd.
odhat	a 4-d vector which is filled with the final orientation using axis-angle representation xa,ya, za,theta [m],[rad]; it may differ from the commanded od.
qdhat	the complete joints configuration through which the couple (xdhat,odhat) is achieved [deg].

Returns: true/false on success/failure.

◆ askForPosition() [2/2]

virtual bool yarp::dev::ICartesianControl::askForPosition	(	const yarp::sig::Vector &	xd,
		yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

pure virtual

Ask for inverting a given position without actually moving there.

[wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
xdhat	a 3-d vector which is filled with the final position x,y,z [m]; it may differ from the commanded xd.
odhat	a 4-d vector which is filled with the final orientation using axis-angle representation xa,ya, za,theta [m],[rad]; it may differ from the commanded od.
qdhat	the complete joints configuration through which the couple (xdhat,odhat) is achieved [deg].

Returns: true/false on success/failure.

◆ attachTipFrame()

virtual bool yarp::dev::ICartesianControl::attachTipFrame	(	const yarp::sig::Vector &	x,
		const yarp::sig::Vector &	o
	)

pure virtual

Attach a tip frame to the end-effector.

Parameters

x	a 3-d vector describing the position of the tip frame wrt the end-effector (meters).
o	a 4-d vector describing the orientation of the tip frame wrt the end-effector (axis-angle notation).

Returns: true/false if successful/failed.

Note: By attaching a tip to the end-effector, the specified tip will be the new end-effector for the controller.

◆ checkMotionDone()

virtual bool yarp::dev::ICartesianControl::checkMotionDone ( bool * f )

pure virtual

Check once if the current trajectory is terminated.

[wait for reply]

Parameters

f	where the result is returned.

Returns: true/false on success/failure.

◆ deleteContext()

virtual bool yarp::dev::ICartesianControl::deleteContext ( const int id )

pure virtual

Delete a specified controller context.

[wait for reply]

Parameters

id	specify the context id to be removed.

Returns: true/false on success/failure.

◆ getDesired()

virtual bool yarp::dev::ICartesianControl::getDesired	(	yarp::sig::Vector &	xdhat,
		yarp::sig::Vector &	odhat,
		yarp::sig::Vector &	qdhat
	)

pure virtual

Get the actual desired pose and joints configuration as result of kinematic inversion.

[wait for reply]

Parameters

xdhat	a 3-d vector which is filled with the actual desired position x,y,z [m]; it may differ from the commanded xd.
odhat	a 4-d vector which is filled with the actual desired orientation using axis-angle representation xa,ya,za,theta [m],[rad]; it may differ from the commanded od.
qdhat	the joints configuration through which the couple (xdhat,odhat) is achieved [deg].

Returns: true/false on success/failure.

◆ getDOF()

virtual bool yarp::dev::ICartesianControl::getDOF ( yarp::sig::Vector & curDof )

pure virtual

Get the current DOF configuration of the limb.

[wait for reply]

Parameters

curDof a vector which is filled with the actual DOF configuration.

Returns: true/false on success/failure.

Note: The vector length is equal to the number of limb's joints; each vector's position is filled with 1 if the associated joint is controlled (i.e. it is an actuated DOF), 0 otherwise.

◆ getInfo()

virtual bool yarp::dev::ICartesianControl::getInfo ( yarp::os::Bottle & info )

pure virtual

Return useful info on the operating state of the controller.

[wait for reply]

Parameters

info	is a property-like bottle containing the info.

Returns: true/false on success/failure.

◆ getInTargetTol()

virtual bool yarp::dev::ICartesianControl::getInTargetTol ( double * tol )

pure virtual

Return tolerance for in-target check.

[wait for reply]

Parameters

tol	the memory location where tolerance is returned.

Returns: true/false on success/failure.

Note: The trajectory is supposed to be completed as soon as norm(xd-end_effector)<tol.

◆ getJointsVelocities()

virtual bool yarp::dev::ICartesianControl::getJointsVelocities ( yarp::sig::Vector & qdot )

pure virtual

Return joints velocities.

[wait for reply]

Parameters

qdot	the vector containing the joints velocities [deg/s] sent to the robot by the controller.

Returns: true/false on success/failure.

◆ getLimits()

virtual bool yarp::dev::ICartesianControl::getLimits	(	const int	axis,
		double *	min,
		double *	max
	)

pure virtual

Get the current range for the axis.

[wait for reply]

Parameters

axis	joint index (regardless if it is actuated or not).
min	where the minimum value is returned [deg].
max	where the maximum value is returned [deg].

Returns: true/false on success/failure.

◆ getPose() [1/2]

virtual bool yarp::dev::ICartesianControl::getPose	(	const int	axis,
		yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current pose of the specified link belonging to the kinematic chain.

[wait for reply]

Parameters

axis	joint index (regardless if it is actuated or not).
x	a 3-d vector which is filled with the actual position x,y,z [m] of the given link reference frame.
o	a 4-d vector which is filled with the actual orientation of the given link reference frame using axis-angle representation xa, ya, za, theta [m],[rad].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

◆ getPose() [2/2]

virtual bool yarp::dev::ICartesianControl::getPose	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o,
		yarp::os::Stamp *	stamp = `NULL`
	)

pure virtual

Get the current pose of the end-effector.

[do not wait for reply]

Parameters

x	a 3-d vector which is filled with the actual position x,y,z [m].
o	a 4-d vector which is filled with the actual orientation using axis-angle representation xa, ya, za, theta [m],[rad].
stamp	the stamp of the encoders employed to compute the pose.

Returns: true/false on success/failure.

◆ getPosePriority()

virtual bool yarp::dev::ICartesianControl::getPosePriority ( std::string & p )

pure virtual

Get the current pose priority.

[wait for reply]

Parameters

p	here is returned either as "position" or "orientation".

Returns: true/false on success/failure.

◆ getReferenceMode()

virtual bool yarp::dev::ICartesianControl::getReferenceMode ( bool * f )

pure virtual

Get the current controller reference mode.

[wait for reply]

Parameters

f	here is returned true if controller makes use of the low-level joints set-points, false if it employs actual encoders feedback.

Returns: true/false on success/failure.

◆ getRestPos()

virtual bool yarp::dev::ICartesianControl::getRestPos ( yarp::sig::Vector & curRestPos )

pure virtual

Get the current joints rest position.

[wait for reply]

Parameters

curRestPos a vector which is filled with the current joints rest position components [deg].

Returns: true/false on success/failure.

Note: While solving the inverse kinematic, the user may specify a secondary task that minimizes against a joints rest position; further, each rest component may be weighted differently providing the weights vector.

◆ getRestWeights()

virtual bool yarp::dev::ICartesianControl::getRestWeights ( yarp::sig::Vector & curRestWeights )

pure virtual

Get the current joints rest weights.

[wait for reply]

Parameters

curRestWeights a vector which is filled with the current joints rest weights.

Returns: true/false on success/failure.

Note: While solving the inverse kinematic, the user may specify a secondary task that minimizes against a joints rest position; further, each rest component may be weighted differently providing the weights vector.

◆ getTaskVelocities()

virtual bool yarp::dev::ICartesianControl::getTaskVelocities	(	yarp::sig::Vector &	xdot,
		yarp::sig::Vector &	odot
	)

pure virtual

Return velocities of the end-effector in the task space.

[wait for reply]

Parameters

xdot	the 3-d vector containing the derivative of x,y,z position [m/s] of the end-effector while moving in the task space as result of the commanded joints velocities.
odot	the 4-d vector containing the derivative of end-effector orientation [rad/s] while moving in the task space as result of the commanded joints velocities.

Returns: true/false on success/failure.

◆ getTipFrame()

virtual bool yarp::dev::ICartesianControl::getTipFrame	(	yarp::sig::Vector &	x,
		yarp::sig::Vector &	o
	)

pure virtual

Retrieve the tip frame currently attached to the end-effector.

Parameters

x	a 3-d vector containing the position of the tip frame wrt the end-effector (meters).
o	a 4-d vector containing the orientation of the tip frame wrt the end-effector (axis-angle notation).

Returns: true/false if successful/failed.

◆ getTrackingMode()

virtual bool yarp::dev::ICartesianControl::getTrackingMode ( bool * f )

pure virtual

Get the current controller mode.

[wait for reply]

Parameters

f	here is returned true if controller is in tracking mode, false otherwise.

Returns: true/false on success/failure.

◆ getTrajTime()

virtual bool yarp::dev::ICartesianControl::getTrajTime ( double * t )

pure virtual

Get the current trajectory duration.

[wait for reply]

Parameters

t	the memory location where the time is returned [s].

Returns: true/false on success/failure.

◆ goToPose()

virtual bool yarp::dev::ICartesianControl::goToPose	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		const double	t = `0.0`
	)

pure virtual

Move the end-effector to a specified pose (position and orientation) in cartesian space.

[do not wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
od	a 4-d vector which contains the desired orientation using axis-angle representation xa,ya,za,theta [m],[rad].
t	set the trajectory duration time [s]. If t<=0 (as by default) the current execution time is kept.

Returns: true/false on success/failure.

Note: Intended for streaming mode.

◆ goToPoseSync()

virtual bool yarp::dev::ICartesianControl::goToPoseSync	(	const yarp::sig::Vector &	xd,
		const yarp::sig::Vector &	od,
		const double	t = `0.0`
	)

pure virtual

Move the end-effector to a specified pose (position and orientation) in cartesian space.

[wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
od	a 4-d vector which contains the desired orientation using axis-angle representation xa,ya,za,theta [m],[rad].
t	set the trajectory duration time [s]. If t<=0 (as by default) the current execution time is kept.

Returns: true/false on success/failure.

Note: The reply is returned as soon as the controller has initiated the movement.

◆ goToPosition()

virtual bool yarp::dev::ICartesianControl::goToPosition	(	const yarp::sig::Vector &	xd,
		const double	t = `0.0`
	)

pure virtual

Move the end-effector to a specified position in cartesian space, ignore the orientation.

[do not wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
t	set the trajectory duration time [s]. If t<=0 (as by default) the current execution time is kept.

Returns: true/false on success/failure.

Note: Intended for streaming mode.

◆ goToPositionSync()

virtual bool yarp::dev::ICartesianControl::goToPositionSync	(	const yarp::sig::Vector &	xd,
		const double	t = `0.0`
	)

pure virtual

Move the end-effector to a specified position in cartesian space, ignore the orientation.

[wait for reply]

Parameters

xd	a 3-d vector which contains the desired position x,y,z [m].
t	set the trajectory duration time [s]. If t<=0 (as by default) the current execution time is kept.

Returns: true/false on success/failure.

Note: The reply is returned as soon as the controller has initiated the movement.

◆ registerEvent()

virtual bool yarp::dev::ICartesianControl::registerEvent ( yarp::dev::CartesianEvent & event )

pure virtual

Register an event.

Parameters

event the event to be registered.

Returns: true/false on success/failure.

Note: the special type "*" can be used to attach a callback to all the available events.

◆ removeTipFrame()

virtual bool yarp::dev::ICartesianControl::removeTipFrame ( )

pure virtual

Remove the tip frame currently attached to the end-effector.

Returns: true/false if successful/failed.

Note: The actual end-effector is again under control.

◆ restoreContext()

virtual bool yarp::dev::ICartesianControl::restoreContext ( const int id )

pure virtual

Restore the controller context previously stored.

[wait for reply]

Parameters

id	specify the context id to be restored.

Returns: true/false on success/failure.

Note: The context comprises the values of internal controller variables, such as the tracking mode, the active dofs, the trajectory time and so on.

◆ setDOF()

virtual bool yarp::dev::ICartesianControl::setDOF	(	const yarp::sig::Vector &	newDof,
		yarp::sig::Vector &	curDof
	)

pure virtual

Set a new DOF configuration for the limb.

[wait for reply]

Parameters

newDof	a vector which contains the new DOF configuration.
curDof	a vector where the DOF configuration is returned as it has been processed after the request (it may differ from newDof due to the presence of some internal limb's constraints).

Returns: true/false on success/failure.

Note: Each vector's position shall contain 1 if the associated joint can be actuated, 0 otherwise. The special value 2 indicates that the joint status won't be modified (useful as a placeholder).

◆ setInTargetTol()

virtual bool yarp::dev::ICartesianControl::setInTargetTol ( const double tol )

pure virtual

Set tolerance for in-target check.

[wait for reply]

Parameters

tol	tolerance.

Returns: true/false on success/failure.

Note: The trajectory is supposed to be completed as soon as norm(xd-end_effector)<tol.

◆ setLimits()

virtual bool yarp::dev::ICartesianControl::setLimits	(	const int	axis,
		const double	min,
		const double	max
	)

pure virtual

Set new range for the axis.

Allowed range shall be a valid subset of the real control limits. [wait for reply]

Parameters

axis	joint index (regardless it it is actuated or not).
min	the new minimum value [deg].
max	the new maximum value [deg].

Returns: true/false on success/failure.

◆ setPosePriority()

virtual bool yarp::dev::ICartesianControl::setPosePriority ( const std::string & p )

pure virtual

Ask the controller to weigh more either the position or the orientation while reaching in full pose.

[wait for reply]

Parameters

p	can be "position" or "orientation".

Returns: true/false on success/failure.

◆ setReferenceMode()

virtual bool yarp::dev::ICartesianControl::setReferenceMode ( const bool f )

pure virtual

Ask the controller to close the loop with the low-level joints set-points in place of the actual encoders feedback.

[wait for reply]

Parameters

f	true for reference mode, false otherwise.

Returns: true/false on success/failure.

Note: When the reference mode is enabled the controller makes use of the low-level joints set-points in place of the actual encoders feedback. This modality is particularly useful in a scenario where the commands are executed by the control boards with resort to torque actuation.

◆ setRestPos()

virtual bool yarp::dev::ICartesianControl::setRestPos	(	const yarp::sig::Vector &	newRestPos,
		yarp::sig::Vector &	curRestPos
	)

pure virtual

Set a new joints rest position.

[wait for reply]

Parameters

newRestPos	a vector which contains the new joints rest position components [deg].
curRestPos	a vector which is filled with the current joints rest position components [deg] as result from thresholding with joints bounds.

Returns: true/false on success/failure.

Note: While solving the inverse kinematic, the user may specify a secondary task that minimizes against a joints rest position; further, each rest component may be weighted differently providing the weights vector.

◆ setRestWeights()

virtual bool yarp::dev::ICartesianControl::setRestWeights	(	const yarp::sig::Vector &	newRestWeights,
		yarp::sig::Vector &	curRestWeights
	)

pure virtual

Set a new joints rest position.

[wait for reply]

Parameters

newRestWeights	a vector which contains the new joints rest weights.
curRestWeights	a vector which is filled with the current joints rest weights as result from saturation (w>=0.0).

Returns: true/false on success/failure.

Note: While solving the inverse kinematic, the user may specify a secondary task that minimizes against a joints rest position; further, each rest component may be weighted differently providing the weights vector.

◆ setTaskVelocities()

virtual bool yarp::dev::ICartesianControl::setTaskVelocities	(	const yarp::sig::Vector &	xdot,
		const yarp::sig::Vector &	odot
	)

pure virtual

Set the reference velocities of the end-effector in the task space.

Parameters

xdot	the 3-d vector containing the x,y,z reference velocities [m/s] of the end-effector.
odot	the 4-d vector containing the orientation reference velocity [rad/s] of the end-effector

Returns: true/false on success/failure.

◆ setTrackingMode()

virtual bool yarp::dev::ICartesianControl::setTrackingMode ( const bool f )

pure virtual

Set the controller in tracking or non-tracking mode.

[wait for reply]

Parameters

f	true for tracking mode, false otherwise.

Returns: true/false on success/failure.

Note: In tracking mode when the controller reaches the target, it keeps on running in order to maintain the limb in the desired pose in the presence of external disturbances. In non-tracking mode the controller releases the limb as soon as the desired pose is reached.

◆ setTrajTime()

virtual bool yarp::dev::ICartesianControl::setTrajTime ( const double t )

pure virtual

Set the duration of the trajectory.

[wait for reply]

Parameters

t time [s].

Returns: true/false on success/failure.

◆ stopControl()

virtual bool yarp::dev::ICartesianControl::stopControl ( )

pure virtual

Ask for an immediate stop motion.

[wait for reply]

Returns: true/false on success/failure.

Note: The control is completely released, i.e. a direct switch to non-tracking mode is executed.

◆ storeContext()

virtual bool yarp::dev::ICartesianControl::storeContext ( int * id )

pure virtual

Store the controller context.

[wait for reply]

Parameters

id	specify where to store the returned context id.

Returns: true/false on success/failure.

Note: The context comprises the values of internal controller variables, such as the tracking mode, the active dofs, the trajectory time and so on.

◆ tweakGet()

virtual bool yarp::dev::ICartesianControl::tweakGet ( yarp::os::Bottle & options )

pure virtual

Return low-level controller's parameters.

[wait for reply]

Parameters

options is a property-like bottle containing the current values of the low-level controller's configuration.

Returns: true/false on success/failure.

Note: This method is intended for accessing low-level controller's configuration.

◆ tweakSet()

virtual bool yarp::dev::ICartesianControl::tweakSet ( const yarp::os::Bottle & options )

pure virtual

Tweak low-level controller's parameters.

[wait for reply]

Parameters

options is a property-like bottle containing new values for the low-level controller's configuration.

Returns: true/false on success/failure.

Note: This method is intended for accessing low-level controller's configuration.

◆ unregisterEvent()

virtual bool yarp::dev::ICartesianControl::unregisterEvent ( yarp::dev::CartesianEvent & event )

pure virtual

Unregister an event.

Parameters

event the event to be unregistered.

Returns: true/false on success/failure.

◆ waitMotionDone()

virtual bool yarp::dev::ICartesianControl::waitMotionDone	(	const double	period = `0.1`,
		const double	timeout = `0.0`
	)

pure virtual

Wait until the current trajectory is terminated.

[wait for reply]

Parameters

period	specify the check time period [s].
timeout	specify the check expiration time [s]. If timeout<=0 (as by default) the check will be performed without time limitation.

Returns: true for success, false for failure and timeout expired.

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

src/libYARP_dev/src/yarp/dev/CartesianControl.h
src/libYARP_dev/src/yarp/dev/CartesianControl.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~ICartesianControl()

Member Function Documentation

◆ askForPose() [1/2]

◆ askForPose() [2/2]

◆ askForPosition() [1/2]

◆ askForPosition() [2/2]

◆ attachTipFrame()

◆ checkMotionDone()

◆ deleteContext()

◆ getDesired()

◆ getDOF()

◆ getInfo()

◆ getInTargetTol()

◆ getJointsVelocities()

◆ getLimits()

◆ getPose() [1/2]

◆ getPose() [2/2]

◆ getPosePriority()

◆ getReferenceMode()

◆ getRestPos()

◆ getRestWeights()

◆ getTaskVelocities()

◆ getTipFrame()

◆ getTrackingMode()

◆ getTrajTime()

◆ goToPose()

◆ goToPoseSync()

◆ goToPosition()

◆ goToPositionSync()

◆ registerEvent()

◆ removeTipFrame()

◆ restoreContext()

◆ setDOF()

◆ setInTargetTol()

◆ setLimits()

◆ setPosePriority()

◆ setReferenceMode()

◆ setRestPos()

◆ setRestWeights()

◆ setTaskVelocities()

◆ setTrackingMode()

◆ setTrajTime()

◆ stopControl()

◆ storeContext()

◆ tweakGet()

◆ tweakSet()

◆ unregisterEvent()

◆ waitMotionDone()