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/*
* Copyright (c) 2011-2022, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
#define EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
#include <Eigen/Eigen>
#include <dart/dart.hpp>
/// \brief Operational space controller for 6-dof manipulator
class Controller
{
public:
/// \brief Constructor
Controller(
dart::dynamics::SkeletonPtr _robot,
dart::dynamics::BodyNode* _endEffector);
/// \brief Destructor
virtual ~Controller();
/// \brief
void update(const Eigen::Vector3d& _targetPosition);
/// \brief Get robot
dart::dynamics::SkeletonPtr getRobot() const;
/// \brief Get end effector of the robot
dart::dynamics::BodyNode* getEndEffector() const;
/// \brief Keyboard control
virtual void keyboard(unsigned char _key, int _x, int _y);
private:
/// \brief Robot
dart::dynamics::SkeletonPtr mRobot;
/// \brief End-effector of the robot
dart::dynamics::BodyNode* mEndEffector;
/// \brief Control forces
Eigen::VectorXd mForces;
/// \brief Proportional gain for the virtual spring forces at the end effector
Eigen::Matrix3d mKp;
/// \brief Derivative gain for the virtual spring forces at the end effector
Eigen::Matrix3d mKv;
};
#endif // EXAMPLES_OPERATIONALSPACECONTROL_CONTROLLER_HPP_
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