hebi::arm::plugin::ImpedanceController Class Reference

#include <arm.hpp>

Public Member Functions
bool	onAssociated (const Arm &arm) override
void	setGainsInEndEffectorFrame (bool gains_in_end_effector_frame)
bool	gainsInEndEffectorFrame () const
bool	setKp (const Eigen::VectorXd &kp)
Eigen::VectorXd	kp () const
bool	setKd (const Eigen::VectorXd &kd)
Eigen::VectorXd	kd () const
bool	setKi (const Eigen::VectorXd &ki)
Eigen::VectorXd	ki () const
bool	setIClamp (const Eigen::VectorXd &i_clamp)
Eigen::VectorXd	iClamp () const
Public Member Functions inherited from hebi::arm::plugin::Plugin
	Plugin (const std::string &name)
virtual	~Plugin ()=default
std::string	name () const
bool	enabled () const
void	setEnabled (bool enabled)
float	enabledRatio ()
bool	setRampTime (float ramp_time)
float	rampTime ()
bool	update (Arm &, double dt)
virtual bool	send ()

Static Public Member Functions
static std::unique_ptr< ImpedanceController >	create (const PluginConfig &)
static std::string	pluginTypeName ()

Protected Member Functions
bool	setParam (const std::string &name, const Eigen::VectorXd &value_vector)
bool	applyParameterImpl (const std::string &name, bool value) override
bool	applyParameterImpl (const std::string &name, const std::vector< double > &value) override
bool	updateImpl (Arm &arm, double dt) override
Protected Member Functions inherited from hebi::arm::plugin::Plugin
bool	applyParameters (const PluginConfig &config, std::set< std::string > required_parameters)
virtual bool	applyParameterImpl (const std::string &, const std::vector< bool > &)
virtual bool	applyParameterImpl (const std::string &, double)
virtual bool	applyParameterImpl (const std::string &, const std::string &)
virtual bool	applyParameterImpl (const std::string &, const std::vector< std::string > &)

Member Function Documentation

create()

std::unique_ptr< ImpedanceController > hebi::arm::plugin::ImpedanceController::create ( const PluginConfig &  config )

static

pluginTypeName()

static std::string hebi::arm::plugin::ImpedanceController::pluginTypeName ( )

inlinestatic

onAssociated()

bool hebi::arm::plugin::ImpedanceController::onAssociated ( const Arm &  arm )

overridevirtual

Reimplemented from hebi::arm::plugin::Plugin.

setGainsInEndEffectorFrame()

void hebi::arm::plugin::ImpedanceController::setGainsInEndEffectorFrame

(

bool

gains_in_end_effector_frame

)

gainsInEndEffectorFrame()

bool hebi::arm::plugin::ImpedanceController::gainsInEndEffectorFrame ( ) const

inline

setKp()

bool hebi::arm::plugin::ImpedanceController::setKp

(

const Eigen::VectorXd &

kp

)

kp()

Eigen::VectorXd hebi::arm::plugin::ImpedanceController::kp ( ) const

inline

setKd()

bool hebi::arm::plugin::ImpedanceController::setKd

(

const Eigen::VectorXd &

kd

)

kd()

Eigen::VectorXd hebi::arm::plugin::ImpedanceController::kd ( ) const

inline

setKi()

bool hebi::arm::plugin::ImpedanceController::setKi

(

const Eigen::VectorXd &

ki

)

ki()

Eigen::VectorXd hebi::arm::plugin::ImpedanceController::ki ( ) const

inline

setIClamp()

bool hebi::arm::plugin::ImpedanceController::setIClamp

(

const Eigen::VectorXd &

i_clamp

)

iClamp()

Eigen::VectorXd hebi::arm::plugin::ImpedanceController::iClamp ( ) const

inline

setParam()

bool hebi::arm::plugin::ImpedanceController::setParam ( const std::string &  name, const Eigen::VectorXd &  value_vector  )

protected

applyParameterImpl() [1/2]

bool hebi::arm::plugin::ImpedanceController::applyParameterImpl ( const std::string &  name, bool  value  )

overrideprotectedvirtual

Reimplemented from hebi::arm::plugin::Plugin.

applyParameterImpl() [2/2]

bool hebi::arm::plugin::ImpedanceController::applyParameterImpl ( const std::string &  name, const std::vector< double > &  value  )

overrideprotectedvirtual

Reimplemented from hebi::arm::plugin::Plugin.

updateImpl()

bool hebi::arm::plugin::ImpedanceController::updateImpl ( Arm &  arm, double  dt  )

overrideprotectedvirtual

Implements hebi::arm::plugin::Plugin.

---

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

• arm.hpp
• arm.cpp