gcop_urdf::JointSafety Class Reference

Parameters for Joint Safety Controllers. More...

#include <urdfjoint.h>

List of all members.

Public Member Functions
	JointSafety ()
	clear variables on construction
void	clear ()
bool	initXml (TiXmlElement *config)
Public Attributes
double	soft_upper_limit
double	soft_lower_limit
double	k_position
double	k_velocity

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Detailed Description

Parameters for Joint Safety Controllers.

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Constructor & Destructor Documentation

gcop_urdf::JointSafety::JointSafety

(

)

[inline]

clear variables on construction

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Member Function Documentation

void gcop_urdf::JointSafety::clear

(

)

[inline]

References k_position, k_velocity, soft_lower_limit, and soft_upper_limit.

bool gcop_urdf::JointSafety::initXml

(

TiXmlElement *

config

)

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Member Data Documentation

double gcop_urdf::JointSafety::k_position

Referenced by clear().

double gcop_urdf::JointSafety::k_velocity

Referenced by clear().

double gcop_urdf::JointSafety::soft_lower_limit

Referenced by clear().

double gcop_urdf::JointSafety::soft_upper_limit

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

Referenced by clear().

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

• lib/utils/urdfjoint.h