Collaboration diagram for admittance_controller::AdmittanceRule:

Public Member Functions
	AdmittanceRule (const std::shared_ptr< admittance_controller::ParamListener > &parameter_handler)

controller_interface::return_type	configure (const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &node, const size_t num_joint, const std::string &robot_description)
	Configure admittance rule memory using number of joints. More...

controller_interface::return_type	reset (const size_t num_joints)
	Reset all values back to default.

bool	get_all_transforms (const trajectory_msgs::msg::JointTrajectoryPoint &current_joint_state, const trajectory_msgs::msg::JointTrajectoryPoint &reference_joint_state)

void	apply_parameters_update ()

controller_interface::return_type	update (const trajectory_msgs::msg::JointTrajectoryPoint &current_joint_state, const geometry_msgs::msg::Wrench &measured_wrench, const trajectory_msgs::msg::JointTrajectoryPoint &reference_joint_state, const rclcpp::Duration &period, trajectory_msgs::msg::JointTrajectoryPoint &desired_joint_states)

const control_msgs::msg::AdmittanceControllerState &	get_controller_state ()

Public Attributes
std::shared_ptr< admittance_controller::ParamListener >	parameter_handler_

admittance_controller::Params	parameters_

Protected Member Functions
bool	calculate_admittance_rule (AdmittanceState &admittance_state, double dt)

void	process_wrench_measurements (const geometry_msgs::msg::Wrench &measured_wrench, const Eigen::Matrix< double, 3, 3 > &sensor_world_rot, const Eigen::Matrix< double, 3, 3 > &cog_world_rot)

template<typename T1 , typename T2 >
void	vec_to_eigen (const std::vector< T1 > &data, T2 &matrix)

Protected Attributes
size_t	num_joints_

std::shared_ptr< pluginlib::ClassLoader< kinematics_interface::KinematicsInterface > >	kinematics_loader_

std::unique_ptr< kinematics_interface::KinematicsInterface >	kinematics_

Eigen::Matrix< double, 6, 1 >	wrench_world_

AdmittanceState	admittance_state_ {0}

AdmittanceTransforms	admittance_transforms_

Eigen::Vector3d	cog_pos_

Eigen::Vector3d	end_effector_weight_

control_msgs::msg::AdmittanceControllerState	state_message_

Member Function Documentation

◆ apply_parameters_update()

void admittance_controller::AdmittanceRule::apply_parameters_update ( )

Updates parameter_ struct if any parameters have changed since last update. Parameter dependent Eigen field members (end_effector_weight_, cog_pos_, mass_, mass_inv_ stiffness, selected_axes, damping_) are also updated

◆ calculate_admittance_rule()

bool admittance_controller::AdmittanceRule::calculate_admittance_rule	(	AdmittanceState &	admittance_state,
		double	dt
	)

protected

Calculates the admittance rule from given the robot's current joint angles. The admittance controller state input is updated with the new calculated values. A boolean value is returned indicating if any of the kinematics plugin calls failed.

Parameters

[in]	admittance_state	contains all the information needed to calculate the admittance offset
[in]	dt	controller period
[out]	success	true if no calls to the kinematics interface fail

◆ configure()

controller_interface::return_type admittance_controller::AdmittanceRule::configure	(	const std::shared_ptr< rclcpp_lifecycle::LifecycleNode > &	node,
		const size_t	num_joint,
		const std::string &	robot_description
	)

Configure admittance rule memory using number of joints.

Configure admittance rule memory for num joints and load kinematics interface.

◆ get_all_transforms()

bool admittance_controller::AdmittanceRule::get_all_transforms	(	const trajectory_msgs::msg::JointTrajectoryPoint &	current_joint_state,
		const trajectory_msgs::msg::JointTrajectoryPoint &	reference_joint_state
	)

Calculate all transforms needed for admittance control using the loader kinematics plugin. If the transform does not exist in the kinematics model, then TF will be used for lookup. The return value is true if all transformation are calculated without an error

Parameters

[in]	current_joint_state	current joint state of the robot
[in]	reference_joint_state	input joint state reference
[out]	success	true if no calls to the kinematics interface fail

◆ get_controller_state()

const control_msgs::msg::AdmittanceControllerState & admittance_controller::AdmittanceRule::get_controller_state ( )

Set fields of state_message from current admittance controller state.

Parameters

[out] state_message message containing target position/vel/accel, wrench, and actual robot state, among other things

◆ process_wrench_measurements()

void admittance_controller::AdmittanceRule::process_wrench_measurements	(	const geometry_msgs::msg::Wrench &	measured_wrench,
		const Eigen::Matrix< double, 3, 3 > &	sensor_world_rot,
		const Eigen::Matrix< double, 3, 3 > &	cog_world_rot
	)

protected

Updates internal estimate of wrench in world frame wrench_world_ given the new measurement measured_wrench, the sensor to base frame rotation sensor_world_rot, and the center of gravity frame to base frame rotation cog_world_rot. The wrench_world_ estimate includes gravity compensation

Parameters

[in]	measured_wrench	most recent measured wrench from force torque sensor
[in]	sensor_world_rot	rotation matrix from world frame to sensor frame
[in]	cog_world_rot	rotation matrix from world frame to center of gravity frame

◆ update()

controller_interface::return_type admittance_controller::AdmittanceRule::update	(	const trajectory_msgs::msg::JointTrajectoryPoint &	current_joint_state,
		const geometry_msgs::msg::Wrench &	measured_wrench,
		const trajectory_msgs::msg::JointTrajectoryPoint &	reference_joint_state,
		const rclcpp::Duration &	period,
		trajectory_msgs::msg::JointTrajectoryPoint &	desired_joint_states
	)

Calculate 'desired joint states' based on the 'measured force', 'reference joint state', and 'current_joint_state'.

Parameters

[in]	current_joint_state	current joint state of the robot
[in]	measured_wrench	most recent measured wrench from force torque sensor
[in]	reference_joint_state	input joint state reference
[in]	period	time in seconds since last controller update
[out]	desired_joint_state	joint state reference after the admittance offset is applied to the input reference

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

ros2_controllers/admittance_controller/include/admittance_controller/admittance_rule.hpp
ros2_controllers/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ apply_parameters_update()

◆ calculate_admittance_rule()

◆ configure()

◆ get_all_transforms()

◆ get_controller_state()

◆ process_wrench_measurements()

◆ update()