GrfPidController Class Reference

Implements inverse dynamics as a controller within the ROS framework. More...

#include <grf_pid_controller.h>

Inheritance diagram for GrfPidController:

Collaboration diagram for GrfPidController:

Public Member Functions
	GrfPidController ()
	Constructor for GrfPidController.
bool	computeLegCommandArray (const quad_msgs::RobotState &robot_state_msg, quad_msgs::LegCommandArray &leg_command_array_msg, quad_msgs::GRFArray &grf_array_msg)
	Compute the leg command array message for a given current state and reference plan.
Public Member Functions inherited from LegController
	LegController ()
	Constructor for LegController.
virtual void	init (double kp, double kd)
	Set the desired proportional and derivative gains for all legs.
virtual void	init (const std::vector< double > &kp, const std::vector< double > &kd)
	Set the desired proportional and derivative gains for each leg.
virtual void	init (const std::vector< double > &stance_kp, const std::vector< double > &stance_kd, const std::vector< double > &swing_kp, const std::vector< double > &swing_kd, const std::vector< double > &swing_kp_cart, const std::vector< double > &swing_kd_cart)
	Set the desired stance and swing proportional and derivative gains.
void	updateLocalPlanMsg (quad_msgs::RobotPlan::ConstPtr msg, const ros::Time &t_msg)
	Compute the leg command array message for a given current state and reference plan.
bool	overrideStateMachine ()

Private Attributes
Eigen::Vector3d	pos_des_
	Desired position.
Eigen::Vector3d	ang_des_
	Desired orientation.
Eigen::Vector3d	pos_error_int_
	Position error integral.
Eigen::Vector3d	ang_error_int_
	Orientation error integral.
ros::Time	t_old_
	Timekeeping variable for integral term.

Additional Inherited Members
Protected Attributes inherited from LegController
const int	num_feet_ = 4
	Number of feet.
std::shared_ptr< quad_utils::QuadKD >	quadKD_
	QuadKD class.
std::vector< double >	stance_kp_
	PD gain when foot is in stance.
std::vector< double >	stance_kd_
std::vector< double >	swing_kp_
	PD gain when foot is in swing.
std::vector< double >	swing_kd_
std::vector< double >	swing_kp_cart_
	PD gain when foot is in swing (Cartesian)
std::vector< double >	swing_kd_cart_
quad_msgs::RobotPlan::ConstPtr	last_local_plan_msg_
	Last local plan message.
ros::Time	last_local_plan_time_
	Time of last local plan message.
bool	override_state_machine_
	Bool for whether to override the state machine.

Detailed Description

Implements inverse dynamics as a controller within the ROS framework.

GrfPidController implements inverse dynamics logic. It should expose a constructor that does any initialization required and an update method called at some frequency.

Constructor & Destructor Documentation

GrfPidController()

GrfPidController::GrfPidController

(

)

Constructor for GrfPidController.

Returns

Constructed object of type GrfPidController

Member Function Documentation

computeLegCommandArray()

bool GrfPidController::computeLegCommandArray ( const quad_msgs::RobotState &  robot_state_msg, quad_msgs::LegCommandArray &  leg_command_array_msg, quad_msgs::GRFArray &  grf_array_msg  )

virtual

Compute the leg command array message for a given current state and reference plan.

Parameters

[out]	leg_command_array_msg	Command message after solving inverse dynamics and including reference setpoints for each joint
[out]	grf_array_msg	GRF command message

Implements LegController.

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

• robot_driver/include/robot_driver/controllers/grf_pid_controller.h
• robot_driver/src/controllers/grf_pid_controller.cpp