hebi::experimental::arm::plugin::GravityCompensationEffort Class Reference

Plugin for providing gravity compensating torques for the arm. More...

#include <arm.hpp>

Public Member Functions
bool	onAssociated (const Arm &arm) override
Public Member Functions inherited from hebi::experimental::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< GravityCompensationEffort >	create (const PluginConfig &)
static std::string	pluginTypeName ()

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

Detailed Description

Plugin for providing gravity compensating torques for the arm.

The PluginConfig structure should have the following parameters, in addition to the enabled and ramp_time parameters defined for the base Plugin class. required: (none) optional: imu_feedback_index: float (should be integer but float is basic yaml number; defaults to "0") imu_frame_index: float (should be integer; which frame index this should be transformed by; defaults to "0") imu_rotation_offset: vector<float> (row-major 3x3 rotation matrix to transform feedback by; defaults to "eye(3)”)

Member Function Documentation

create()

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

static

pluginTypeName()

static std::string hebi::experimental::arm::plugin::GravityCompensationEffort::pluginTypeName ( )

inlinestatic

onAssociated()

bool hebi::experimental::arm::plugin::GravityCompensationEffort::onAssociated ( const Arm &  arm )

overridevirtual

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

applyParameterImpl() [1/2]

bool hebi::experimental::arm::plugin::GravityCompensationEffort::applyParameterImpl ( const std::string &  name, float  value  )

overrideprotectedvirtual

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

applyParameterImpl() [2/2]

bool hebi::experimental::arm::plugin::GravityCompensationEffort::applyParameterImpl ( const std::string &  name, const std::vector< float > &  value  )

overrideprotectedvirtual

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

updateImpl()

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

overrideprotectedvirtual

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

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

• arm.hpp
• arm.cpp