ArmMC Class Reference
#include <ArmMC.h>
Detailed Description
Definition at line 12 of file ArmMC.h.
Public Member Functions | |
| ArmMC () | |
| Constructor, defaults to all joints to current value in state (i.e. calls takeSnapshot() automatically). | |
| virtual | ~ArmMC () |
| virtual void | setHold (bool h=true) |
| Constructor. | |
| virtual bool | getHold () |
| return hold | |
| virtual void | setTolerance (float t) |
| sets tolerance | |
| virtual float | getTolerance () |
| returns tolerance | |
| virtual void | setTimeout (unsigned int delay) |
| sets timeout | |
| virtual unsigned int | getTimeout () |
| returns timeout | |
| virtual void | freezeMotion () |
| sets the target to last sent commands, and dirty to false; essentially freezes motion in place | |
| virtual void | takeSnapshot () |
| sets the target joint positions to current sensor values | |
| void | setDirty () |
| if completionReported, copies armCmds from MotionManager::getOutputCmd(), then sets dirty to true and completionReported to false | |
Speed Control | |
| void | noMaxSpeed () |
| Sets maxSpeed to 0 (no maximum). | |
| void | defaultMaxSpeed (float x=1) |
| Restores maxSpeed to default settings from Config::Motion_Config. | |
| void | setMaxSpeed (float x) |
| Sets maxSpeed for all joints in rad/sec. | |
| void | setMaxSpeed (unsigned int i, float x) |
| Sets maxSpeed for join i in rad/sec. | |
| void | setGripperSpeed (float x) |
| Set speed of gripper joints. | |
| float | getMaxSpeed (unsigned int i) |
| Returns maxSpeed in rad/sec. | |
Joint Accessors | |
| void | setWeight (float w) |
| Sets the weight values for all the arm joints. | |
| void | setWeight (int x, float w) |
| Sets the weight values for all the arm joints. | |
| float | armJointValue (unsigned int i) |
| Sets the weight values for all the arm joints. | |
| void | setJointValue (unsigned int i, float value) |
| Sets the weight values for all the arm joints. | |
| float | getJointValue (unsigned int i) const |
| Returns the target value of joint i. Use this if you want to know the current commanded joint value; To get the current joint position, look in WorldState::outputs. | |
| void | setJoints (float shoulder, float elbow, float wrist) |
| Set joint values for a three-link arm. | |
| void | setJoints (float shoulder, float elbow, float yaw, float pitch, float roll, float gripper) |
| Set joint values for a Chiara-style arm. | |
| void | setWrist (float pitch, float roll, float gripper) |
| Sets the weight values for all the arm joints. | |
| void | setGripperPulse (unsigned int onPeriod, unsigned int offPeriod) |
| Pulse the gripper to prevent load errors. | |
| void | clearGripperPulse () |
| Sets the weight values for all the arm joints. | |
| void | requestGripperLoad (int newLoad) |
| Sets the desired load value for subsequent grip operations. | |
| int | getGripperLoad () |
| Returns the current active load on the gripper's servos. | |
| void | setGraspSpeed (float speed) |
| Sets the member angleIncrement to the specified value (default = 0.05). | |
| void | setGraspWait (unsigned int cycles) |
| Sets the member idleCycles to the specified value (default = 8). | |
| int | getDesiredLoad () |
| Returns the value of desiredLoad last set by the user. | |
| bool | moveToPoint (float x, float y, float z) |
| Move arm to specified point in base frame coordinates; return false if unreachable. | |
| bool | moveToPoint (const fmat::Column< 3 > &tgt) |
| Sets the weight values for all the arm joints. | |
| bool | moveOffsetToPoint (const fmat::Column< 3 > &offset, const fmat::Column< 3 > &tgt) |
| Sets the weight values for all the arm joints. | |
| bool | moveOffsetToPointWithOrientation (const fmat::Column< 3 > &offset, const fmat::Column< 3 > &tgt, const fmat::Quaternion &ori) |
| Sets the weight values for all the arm joints. | |
| bool | setFingerGap (float dist) |
| Move the fingers or gripper to achieve the specified gap. | |
| bool | openGripper (float percentage=0.5) |
| Open the gripper to a certain percentage of its range of travel. | |
| void | setOutputCmd (unsigned int i, const OutputCmd &c) |
| Sets the weight values for all the arm joints. | |
Inherited: | |
| virtual int | updateOutputs () |
| Updates where the arm is looking. | |
| virtual int | isDirty () |
| true if a change has been made since the last updateJointCmds() and we're active | |
| virtual int | isAlive () |
| Alive while target is not reached. | |
| virtual void | doStart () |
| marks this as dirty each time it is added | |
Protected Member Functions | |
| void | incrementGrasp () |
| Helper function to execute a grasp. | |
Static Protected Member Functions | |
| static float | normalizeAngle (float x) |
| puts x in the range (-pi,pi) | |
| static float | clipAngularRange (unsigned int i, float x) |
| if x is outside of the range of joint i, it is set to either the min or the max, whichever is closer | |
| static bool | ensureValidJoint (unsigned int &i) |
| Makes sure i is in the range (0,NumArmJoints). If it is instead in the range (ArmOffset,ArmOffset+NumArmJoints), output a warning and reset i to the obviously intended value. | |
Protected Attributes | |
| bool | dirty |
| true if a change has been made since last call to updateJointCmds() | |
| bool | hold |
| if set to true, the posture will be kept active; otherwise joints will be marked unused after each posture is achieved (as if the posture was pruned); set through setHold() | |
| float | tolerance |
| when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error) | |
| bool | completionReported |
| true if the most recent movement request has completed | |
| unsigned int | targetTimestamp |
| time at which the completionReported flag was set | |
| unsigned int | timeout |
| number of milliseconds to wait before giving up on a target that should have already been reached, a value of -1U will try forever | |
| float | armTargets [NumArmJoints] |
| stores the target value of each joint | |
| OutputCmd | armCmds [NumArmJoints] |
| stores the last values we sent from updateOutputs | |
| float | maxSpeed [NumArmJoints] |
| initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame | |
| unsigned int | pulseOnPeriod |
| number of milliseconds to keep servo power on, when pulsing | |
| unsigned int | pulseOffPeriod |
| number of milliseconds to keep servo power off, when pulsing | |
| unsigned int | pulseStartTime |
| when the current pulse cycle started | |
| signed int | desiredLoad |
| how tightly to grasp an object (negative is for tighter loads; -280 is a good value) | |
| float | angleIncrement |
| How fast to close the gripper (0.05 by default). | |
| unsigned int | idleCycles |
| How long to wait before updating the gripper angle by angleIncrement (8 by default). | |
Constructor & Destructor Documentation
| ArmMC::ArmMC | ( | ) |
Constructor, defaults to all joints to current value in state (i.e. calls takeSnapshot() automatically).
Member Function Documentation
| float ArmMC::armJointValue | ( | unsigned int | i | ) |
| void ArmMC::clearGripperPulse | ( | ) |
if x is outside of the range of joint i, it is set to either the min or the max, whichever is closer
Definition at line 177 of file ArmMC.h.
Referenced by setJointValue().
| void ArmMC::defaultMaxSpeed | ( | float | x = 1 |
) |
| virtual void ArmMC::doStart | ( | ) | [virtual] |
marks this as dirty each time it is added
Reimplemented from MotionCommand.
| bool ArmMC::ensureValidJoint | ( | unsigned int & | i | ) | [static, protected] |
Makes sure i is in the range (0,NumArmJoints). If it is instead in the range (ArmOffset,ArmOffset+NumArmJoints), output a warning and reset i to the obviously intended value.
- Parameters:
-
[in] i joint offset relative to either ArmOffset (i.e. one of TPROffset_t) or 0 [out] i joint offset relative to ArmOffset (i.e. one of TPROffset_t)
- Returns:
- true if the intended joint could be ascertained, false otherwise
Definition at line 429 of file ArmMC.cc.
Referenced by getJointValue(), and setJointValue().
| void ArmMC::freezeMotion | ( | ) | [virtual] |
sets the target to last sent commands, and dirty to false; essentially freezes motion in place
This is very similar to takeSnapshot(), but will do the "right thing" (retain current position) when motion blending is involved. A status event will be generated if/when the joints reach the currently commanded position. Probably should use freezeMotion() if you want to stop a motion underway, but takeSnapshot() if you want to reset/intialize to the current joint positions.
| int ArmMC::getDesiredLoad | ( | ) |
| int ArmMC::getGripperLoad | ( | ) |
Returns the current active load on the gripper's servos.
Definition at line 147 of file ArmMC.cc.
Referenced by incrementGrasp().
| float ArmMC::getJointValue | ( | unsigned int | i | ) | const |
Returns the target value of joint i. Use this if you want to know the current commanded joint value; To get the current joint position, look in WorldState::outputs.
- Parameters:
-
i joint offset relative to ArmOffset (i.e. one of TPROffset_t)
| float ArmMC::getMaxSpeed | ( | unsigned int | i | ) |
| virtual unsigned int ArmMC::getTimeout | ( | ) | [virtual] |
| virtual float ArmMC::getTolerance | ( | ) | [virtual] |
| void ArmMC::incrementGrasp | ( | ) | [protected] |
Helper function to execute a grasp.
Definition at line 172 of file ArmMC.cc.
Referenced by updateOutputs().
| int ArmMC::isAlive | ( | ) | [virtual] |
Alive while target is not reached.
Implements MotionCommand.
| virtual int ArmMC::isDirty | ( | ) | [virtual] |
true if a change has been made since the last updateJointCmds() and we're active
Implements MotionCommand.
Definition at line 146 of file ArmMC.h.
Referenced by updateOutputs().
| bool ArmMC::moveOffsetToPoint | ( | const fmat::Column< 3 > & | offset, | |
| const fmat::Column< 3 > & | tgt | |||
| ) |
Sets the weight values for all the arm joints.
Definition at line 232 of file ArmMC.cc.
Referenced by moveToPoint().
| bool ArmMC::moveOffsetToPointWithOrientation | ( | const fmat::Column< 3 > & | offset, | |
| const fmat::Column< 3 > & | tgt, | |||
| const fmat::Quaternion & | ori | |||
| ) |
| bool ArmMC::moveToPoint | ( | const fmat::Column< 3 > & | tgt | ) |
puts x in the range (-pi,pi)
Definition at line 174 of file ArmMC.h.
Referenced by clipAngularRange().
| bool ArmMC::openGripper | ( | float | percentage = 0.5 |
) |
| void ArmMC::requestGripperLoad | ( | int | newLoad = -280 |
) |
Sets the desired load value for subsequent grip operations.
Definition at line 138 of file ArmMC.cc.
Referenced by openGripper().
| void ArmMC::setDirty | ( | ) |
if completionReported, copies armCmds from MotionManager::getOutputCmd(), then sets dirty to true and completionReported to false
should be called each time a joint value gets modified in case the arm isn't where it's supposed to be, it won't jerk around
MotionManager::getOutputCmd() is called instead of WorldState::outputs[] because if this is being called rapidly (i.e. after every sensor reading) using the sensor values will cause problems with very slow acceleration due to sensor lag continually resetting the current position. Using the last value sent by the MotionManager fixes this.
Definition at line 420 of file ArmMC.cc.
Referenced by doStart(), requestGripperLoad(), setGripperPulse(), setJointValue(), and setWeight().
| bool ArmMC::setFingerGap | ( | float | dist | ) |
| void ArmMC::setGraspSpeed | ( | float | speed | ) |
Sets the member angleIncrement to the specified value (default = 0.05).
This is only applicable for CALLIOPE2 and will do nothing for any other robot.
Definition at line 156 of file ArmMC.cc.
Referenced by setGripperSpeed().
| void ArmMC::setGraspWait | ( | unsigned int | cycles | ) |
Sets the member idleCycles to the specified value (default = 8).
This is only applicable for CALLIOPE2 and will do nothing for any other robot. The purpose of this parameter is to control how fast often angleIncrement is used. If it is used too often, the gripper will move too fast, generate an invalid load, and then not close correctly.
| void ArmMC::setGripperPulse | ( | unsigned int | onPeriod, | |
| unsigned int | offPeriod | |||
| ) |
| void ArmMC::setGripperSpeed | ( | float | x | ) |
| virtual void ArmMC::setHold | ( | bool | h = true |
) | [virtual] |
| void ArmMC::setJointValue | ( | unsigned int | i, | |
| float | value | |||
| ) |
Sets the weight values for all the arm joints.
Definition at line 76 of file ArmMC.h.
Referenced by incrementGrasp(), openGripper(), setFingerGap(), setJoints(), and setWrist().
| void ArmMC::setMaxSpeed | ( | unsigned int | i, | |
| float | x | |||
| ) |
| void ArmMC::setMaxSpeed | ( | float | x | ) |
Sets maxSpeed for all joints in rad/sec.
Definition at line 51 of file ArmMC.h.
Referenced by setGripperSpeed(), setJoints(), setMaxSpeed(), and setWrist().
| void ArmMC::setOutputCmd | ( | unsigned int | i, | |
| const OutputCmd & | c | |||
| ) |
Sets the weight values for all the arm joints.
Definition at line 132 of file ArmMC.h.
Referenced by moveOffsetToPoint(), and moveOffsetToPointWithOrientation().
| virtual void ArmMC::setTimeout | ( | unsigned int | delay | ) | [virtual] |
| virtual void ArmMC::setTolerance | ( | float | t | ) | [virtual] |
| void ArmMC::setWeight | ( | int | x, | |
| float | w | |||
| ) |
| void ArmMC::setWeight | ( | float | w | ) |
Sets the weight values for all the arm joints.
Definition at line 63 of file ArmMC.cc.
Referenced by ArmMC(), and setJointValue().
| void ArmMC::takeSnapshot | ( | ) | [virtual] |
sets the target joint positions to current sensor values
Similar to freezeMotion() when a motion is underway, but only if no other MotionCommands are using neck joints. A status event will not be generated unless a motion was already underway. Probably should use freezeMotion() if you want to stop a motion underway, but takeSnapshot() if you want to reset/intialize to the current joint positions.
Definition at line 39 of file ArmMC.cc.
Referenced by ArmMC().
| int ArmMC::updateOutputs | ( | ) | [virtual] |
Updates where the arm is looking.
Implements MotionCommand.
Member Data Documentation
float ArmMC::angleIncrement [protected] |
How fast to close the gripper (0.05 by default).
Definition at line 213 of file ArmMC.h.
Referenced by incrementGrasp(), and setGraspSpeed().
OutputCmd ArmMC::armCmds[NumArmJoints] [protected] |
stores the last values we sent from updateOutputs
Definition at line 207 of file ArmMC.h.
Referenced by freezeMotion(), setDirty(), setOutputCmd(), setWeight(), takeSnapshot(), and updateOutputs().
float ArmMC::armTargets[NumArmJoints] [protected] |
stores the target value of each joint
Definition at line 206 of file ArmMC.h.
Referenced by armJointValue(), freezeMotion(), getJointValue(), isAlive(), setJointValue(), setOutputCmd(), takeSnapshot(), and updateOutputs().
bool ArmMC::completionReported [protected] |
true if the most recent movement request has completed
Definition at line 203 of file ArmMC.h.
Referenced by isAlive(), isDirty(), setDirty(), setOutputCmd(), and updateOutputs().
signed int ArmMC::desiredLoad [protected] |
how tightly to grasp an object (negative is for tighter loads; -280 is a good value)
Definition at line 212 of file ArmMC.h.
Referenced by getDesiredLoad(), incrementGrasp(), requestGripperLoad(), and updateOutputs().
bool ArmMC::dirty [protected] |
true if a change has been made since last call to updateJointCmds()
Definition at line 200 of file ArmMC.h.
Referenced by freezeMotion(), isAlive(), isDirty(), setDirty(), setOutputCmd(), takeSnapshot(), and updateOutputs().
bool ArmMC::hold [protected] |
unsigned int ArmMC::idleCycles [protected] |
How long to wait before updating the gripper angle by angleIncrement (8 by default).
Definition at line 214 of file ArmMC.h.
Referenced by incrementGrasp(), and setGraspWait().
float ArmMC::maxSpeed[NumArmJoints] [protected] |
initialized from Config::motion_config, but can be overridden by setMaxSpeed(); rad per frame
Definition at line 208 of file ArmMC.h.
Referenced by defaultMaxSpeed(), getMaxSpeed(), noMaxSpeed(), setMaxSpeed(), and updateOutputs().
unsigned int ArmMC::pulseOffPeriod [protected] |
number of milliseconds to keep servo power off, when pulsing
Definition at line 210 of file ArmMC.h.
Referenced by clearGripperPulse(), setGripperPulse(), and updateOutputs().
unsigned int ArmMC::pulseOnPeriod [protected] |
number of milliseconds to keep servo power on, when pulsing
Definition at line 209 of file ArmMC.h.
Referenced by clearGripperPulse(), setGripperPulse(), and updateOutputs().
unsigned int ArmMC::pulseStartTime [protected] |
when the current pulse cycle started
Definition at line 211 of file ArmMC.h.
Referenced by setGripperPulse(), and updateOutputs().
unsigned int ArmMC::targetTimestamp [protected] |
time at which the completionReported flag was set
Definition at line 204 of file ArmMC.h.
Referenced by isAlive(), and updateOutputs().
unsigned int ArmMC::timeout [protected] |
number of milliseconds to wait before giving up on a target that should have already been reached, a value of -1U will try forever
Definition at line 205 of file ArmMC.h.
Referenced by getTimeout(), isAlive(), and setTimeout().
float ArmMC::tolerance [protected] |
when autopruning, if the maxdiff() of this posture and the robot's current position is below this value, isAlive() will be false, defaults to 0.01 (5.7 degree error)
Definition at line 202 of file ArmMC.h.
Referenced by getTolerance(), isAlive(), and setTolerance().
The documentation for this class was generated from the following files:
