CartesianGeneratorPos Class Reference

This class implements a TaskContext that creates a path in Cartesian space between the current cartesian position and a new desired cartesian position. More...

#include <CartesianGeneratorPos.hpp>

List of all members.

Public Member Functions
	CartesianGeneratorPos (std::string name)
	Constructor of the class.
virtual bool	configureHook ()
virtual bool	startHook ()
virtual void	updateHook ()
virtual void	stopHook ()
virtual void	cleanupHook ()
Protected Attributes
RTT::Command< bool(KDL::Frame, double)>	_moveTo
	Command to generate the motion.
RTT::Method< void(void)>	_reset_position
	Method that resets the generators desired frame tho the current measured frame and the desired twist to zero.
RTT::ReadDataPort< KDL::Frame >	_position_meas
	Dataport containing the current measured end-effector frame, shared with OCL::CartesianSensor.
RTT::WriteDataPort< KDL::Frame >	_position_desi
	Dataport containing the current desired end-effector frame, shared with OCL::CartesianControllerPos, OCL::CartesianControllerPosVel.
RTT::WriteDataPort< KDL::Twist >	_velocity_desi
	Dataport containing the current desired end-effector twist, shared with OCL::CartesianControllerPosVel, OCL::CartesianControllerVel.
RTT::Property< std::vector < double > >	_maximum_velocity
	Property containing a vector with the maximum velocity of each dof.
RTT::Property< std::vector < double > >	_maximum_acceleration
	Property containing a vector with the maximum acceleration of each dof.

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Detailed Description

This class implements a TaskContext that creates a path in Cartesian space between the current cartesian position and a new desired cartesian position.

It uses trapezoidal velocity-profiles for every dof using a maximum velocity and a maximum acceleration. It generates frame and twist setpoints which can be used by OCL::CartesianControllerPos, OCL::CartesianControllerPosVel or OCL::CartesianControllerVel.

Definition at line 52 of file CartesianGeneratorPos.hpp.

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Constructor & Destructor Documentation

CartesianGeneratorPos

(

std::string

name

)

Constructor of the class.

Parameters:

name

name of the TaskContext

Definition at line 34 of file CartesianGeneratorPos.cpp.

References CartesianGeneratorPos::_maximum_acceleration, CartesianGeneratorPos::_maximum_velocity, CartesianGeneratorPos::_moveTo, CartesianGeneratorPos::_position_desi, CartesianGeneratorPos::_position_meas, CartesianGeneratorPos::_reset_position, and CartesianGeneratorPos::_velocity_desi.

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Member Data Documentation

RTT::Command<bool(KDL::Frame,double)> _moveTo [protected]

Command to generate the motion.

Command stops when the movement is finished.

Parameters:

	frame	the desired frame
	time	the minimum time duration of the movement.

Returns:

false if a previous motion is still going on, true otherwise

Definition at line 96 of file CartesianGeneratorPos.hpp.

Referenced by CartesianGeneratorPos::CartesianGeneratorPos().

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

• CartesianGeneratorPos.hpp
• CartesianGeneratorPos.cpp