HEBI C++ API  3.9.0
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< GravityCompensationEffortcreate (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

◆ applyParameterImpl() [1/2]

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

◆ applyParameterImpl() [2/2]

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

◆ updateImpl()

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

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