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

#include <inverse_dynamics_controller.h>

Inheritance diagram for InverseDynamicsController:

Collaboration diagram for InverseDynamicsController:

Public Member Functions
	InverseDynamicsController ()
	Constructor for InverseDynamicsController.

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.

quad_msgs::RobotState	getReferenceState ()
	Return the reference state used for current tracking.

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::VectorXd	last_grf_array_
	Prior grf_array.

quad_msgs::RobotState	ref_state_msg_
	Reference state for tracking.

const double	grf_exp_filter_const_ = 1.0
	GRF exponential filter constant.

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.

InverseDynamicsController 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

◆ InverseDynamicsController()

InverseDynamicsController::InverseDynamicsController ( )

Constructor for InverseDynamicsController.

Returns: Constructed object of type InverseDynamicsController

Member Function Documentation

◆ computeLegCommandArray()

bool InverseDynamicsController::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

[in]	robot_state_msg	Message of the current robot state
[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.

◆ getReferenceState()

quad_msgs::RobotState InverseDynamicsController::getReferenceState ( )

inline

Return the reference state used for current tracking.

Returns: Reference state

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

robot_driver/include/robot_driver/controllers/inverse_dynamics_controller.h
robot_driver/src/controllers/inverse_dynamics_controller.cpp

Public Member Functions