lmc_controller.h File Reference

Controller related functions. More...

#include <motion_control/lmc_robot_model.h>
#include <motion_control/lmc_joint.h>

Include dependency graph for lmc_controller.h:

Go to the source code of this file.

Data Structures
struct	lmc_controller_cartesian_admittance_config
	Cartesian admiitance controler config data struct. More...

Typedefs
typedef struct lmc_controller	lmc_controller_t
	Controller data structure, contain all the controller instance. More...
typedef struct lmc_controller_cartesian_admittance_config	lmc_controller_cartesian_admittance_config_t
	Cartesian admiitance controler config data struct.

Functions
lmc_controller_t *	lmc_controller_new ()
	Create a controller data instance. More...
void	lmc_controller_delete (lmc_controller_t **controller_addr)
	Delete a controller data instance. More...
int	lmc_controller_init (lmc_controller_t *const controller, lmc_robot_model_t const *const robot_model, double const cycle_time)
	Init a controller data. More...
int	lmc_controller_gravity_compensate (lmc_controller_t *const controller, lmc_joint_state_t const *const in_joint_state, double *const out_joint_torque_cmd)
	Compute gravity compensation block for robot, can be used for teaching. More...
int	lmc_controller_computed_torque (lmc_controller_t *const controller, lmc_joint_state_t const *const in_joint_state, lmc_joint_cmd_t const *const in_joint_cmd, double *const out_torque, double *const out_inertia)
	Computed torque control block for robot. More...
int	lmc_controller_computed_torque_set_param (lmc_controller_t *const controller, const double *kp, const double *kv)
	Set computed torque control parameters. More...
void	lmc_controller_cartesian_admittance_config (lmc_controller_t *const controller, lmc_joint_cmd_t const *const joint_cmd, lmc_controller_cartesian_admittance_config_t const *const config)
	Cartesian admittance controll block config function for robot. More...
void	lmc_controller_cartesian_admittance_set_task_frame (lmc_controller_t *const controller, lmc_transform_t const *const task_frame)
	Cartesian admittance controll block set task frame. More...
void	lmc_controller_cartesian_admittance_set_offset_limit (lmc_controller_t *const controller, lmc_twist_t const *const minus, lmc_twist_t const *const plus)
	Cartesian admittance controll set base offset limit, the diff twist due to admittance control will be limited by this value. More...
int	lmc_controller_cartesian_admittance_update (lmc_controller_t *const controller, lmc_joint_cmd_t const *const in_joint_cmd, lmc_joint_state_t const *const in_joint_state, lmc_wrench_t const *const in_external_force, double *const out_joint_pos_offset)
	Cartesian admittance control block update function for robot. As in the following picture, when force_mode is enabled, an loop is inserted after the trajectory_generator. More...
void	lmc_controller_cartesian_admittance_request_end (lmc_controller_t *const controller)
	Cartesian admittance control block request end function for robot. More...
int	lmc_controller_cartesian_admittance_activated (lmc_controller_t *const controller)
	Cartesian admittance control block activate state check function for robot. More...
void	lmc_controller_cartesian_admittance_set_damping (lmc_controller_t *const controller, double d)
	Cartesian admittance control block set damping function. More...
void	lmc_controller_cartesian_admittance_set_mass (lmc_controller_t *const controller, double mass)
	Cartesian admittance control block set mass function. More...
void	lmc_controller_cartesian_admittance_set_force_threshold (lmc_controller_t *const controller, double threshold)
	Cartesian admittance control block set force threshold function. More...
void	lmc_controller_cartesian_admittance_set_torque_threshold (lmc_controller_t *const controller, double threshold)
	Cartesian admittance control block set torque threshold function. More...
void	lmc_controller_cartesian_admittance_set_dexterity (lmc_controller_t *const controller, size_t n)
	Cartesian admittance control block set dexterity function. More...
void	lmc_controller_cartesian_admittance_cleanup (lmc_controller_t *const controller)
	Cartesian admittance control block cleanup function. More...

Detailed Description

Controller related functions.

Author

liufang

Date

2021-10-18

Definition in file lmc_controller.h.