Parameters for Joint Safety Controllers. More...

#include <joint.h>

Public Types
using	Ptr = std::shared_ptr< JointSafety >

using	ConstPtr = std::shared_ptr< const JointSafety >

Public Member Functions
	JointSafety ()=default

	JointSafety (double soft_upper_limit, double soft_lower_limit, double k_position, double k_velocity)

void	clear ()

bool	operator== (const JointSafety &rhs) const

bool	operator!= (const JointSafety &rhs) const

Public Attributes
double	soft_upper_limit { 0 }

double	soft_lower_limit { 0 }

double	k_position { 0 }

double	k_velocity { 0 }

Private Member Functions
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Friends
class	boost::serialization::access

std::ostream &	operator<< (std::ostream &os, const JointSafety &safety)

Detailed Description

Parameters for Joint Safety Controllers.

Member Typedef Documentation

◆ ConstPtr

using tesseract_scene_graph::JointSafety::ConstPtr = std::shared_ptr<const JointSafety>

◆ Ptr

using tesseract_scene_graph::JointSafety::Ptr = std::shared_ptr<JointSafety>

Constructor & Destructor Documentation

◆ JointSafety() [1/2]

tesseract_scene_graph::JointSafety::JointSafety ( )

default

◆ JointSafety() [2/2]

tesseract_scene_graph::JointSafety::JointSafety	(	double	soft_upper_limit,
		double	soft_lower_limit,
		double	k_position,
		double	k_velocity
	)

inline

Member Function Documentation

◆ clear()

void tesseract_scene_graph::JointSafety::clear ( )

inline

◆ operator!=()

bool tesseract_scene_graph::JointSafety::operator!= ( const JointSafety & rhs ) const

◆ operator==()

bool tesseract_scene_graph::JointSafety::operator== ( const JointSafety & rhs ) const

◆ serialize()

template<class Archive >

void tesseract_scene_graph::JointSafety::serialize	(	Archive &	ar,
		const unsigned int	version
	)

private

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const JointSafety &	safety
	)

friend

Member Data Documentation

◆ k_position

double tesseract_scene_graph::JointSafety::k_position { 0 }

◆ k_velocity

double tesseract_scene_graph::JointSafety::k_velocity { 0 }

◆ soft_lower_limit

double tesseract_scene_graph::JointSafety::soft_lower_limit { 0 }

◆ soft_upper_limit

double tesseract_scene_graph::JointSafety::soft_upper_limit { 0 }

IMPORTANT: The safety controller support is very much PR2 specific, not intended for generic usage.

Basic safety controller operation is as follows

current safety controllers will take effect on joints outside the position range below:

position range: [JointSafety::soft_lower_limit + JointLimits::velocity / JointSafety::k_position, JointSafety::soft_uppper_limit - JointLimits::velocity / JointSafety::k_position]

if (joint_position is outside of the position range above) velocity_limit_min = -JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_lower_limit) velocity_limit_max = JointLimits::velocity + JointSafety::k_position * (joint_position - JointSafety::soft_upper_limit) else velocity_limit_min = -JointLimits::velocity velocity_limit_max = JointLimits::velocity

velocity range: [velocity_limit_min + JointLimits::effort / JointSafety::k_velocity, velocity_limit_max - JointLimits::effort / JointSafety::k_velocity]

if (joint_velocity is outside of the velocity range above) effort_limit_min = -JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_min) effort_limit_max = JointLimits::effort + JointSafety::k_velocity * (joint_velocity - velocity_limit_max) else effort_limit_min = -JointLimits::effort effort_limit_max = JointLimits::effort

Final effort command sent to the joint is saturated by [effort_limit_min,effort_limit_max]

Please see wiki for more details: http://www.ros.org/wiki/pr2_controller_manager/safety_limits

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

tesseract_scene_graph/include/tesseract_scene_graph/joint.h
tesseract_scene_graph/src/joint.cpp

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Friends