Struct robot_fingers::NJointBlmcRobotDriver::Config¶
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struct Config¶
Configuration of the robot that can be changed by the user.
Public Types
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typedef std::array<std::string, N_MOTOR_BOARDS> CanPortArray¶
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typedef std::array<std::string, N_MOTOR_BOARDS> CanPortArray
Public Functions
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bool is_within_hard_position_limits(const Vector &position) const¶
Check if the given position is within the hard limits.
- Parameters:
position – Joint positions.
- Returns:
True if
hard_position_limits_lower <= position <= hard_position_limits_upper.
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void print() const¶
Print the given configuration in a human-readable way.
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bool is_within_hard_position_limits(const Vector &position) const
Check if the given position is within the hard limits.
- Parameters:
position – Joint positions.
- Returns:
True if
hard_position_limits_lower <= position <= hard_position_limits_upper.
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void print() const
Print the given configuration in a human-readable way.
Public Members
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CanPortArray can_ports¶
List of CAN port names used by the robot.
For each motor control board used by the robot, this specifies the CAN port through which it is connected.
Example:
{"can0", "can1"}
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double max_current_A = 0.0¶
Maximum current that can be sent to the motor [A].
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bool has_endstop = false¶
Whether the joints have physical end stops or not.
This is for example relevant for homing, where (in case this value is set to true) all joints move until they hit the end stop to determine their absolute position.
Note that not having end stops does not mean that the joint can rotate freely in general.
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HomingMethod homing_method = HomingMethod::NONE¶
Which method to use for homing.
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struct robot_fingers::NJointBlmcRobotDriver<Observation, N_JOINTS, N_MOTOR_BOARDS>::Config::CalibrationParameters calibration¶
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double move_to_position_tolerance_rad = 0.0¶
Tolerance for reaching the target with NJointBlmcRobotDriver::move_to_position.
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Vector safety_kd = Vector::Constant(0.1)¶
D-gain to dampen velocity. Set to zero to disable damping.
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struct robot_fingers::NJointBlmcRobotDriver<Observation, N_JOINTS, N_MOTOR_BOARDS>::Config::PositionControlGains position_control_gains¶
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Vector hard_position_limits_lower = Vector::Zero()¶
Hard lower limits for joint position.
Exceeding this limit results in an error and robot shutdown.
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Vector hard_position_limits_upper = Vector::Zero()¶
Hard upper limits for joint position.
Exceeding this limit results in an error and robot shutdown.
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Vector soft_position_limits_lower = Vector::Constant(-std::numeric_limits<double>::infinity())¶
Soft lower limits for joint position.
Exceeding this limit results in the action being adjusted to move the joint back inside the limits.
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Vector soft_position_limits_upper = Vector::Constant(std::numeric_limits<double>::infinity())¶
Soft upper limits for joint position.
Exceeding this limit results in the action being adjusted to move the joint back inside the limits.
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Vector home_offset_rad = Vector::Zero()¶
Offset between home position and zero.
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Vector initial_position_rad = Vector::Zero()¶
Initial position to which the robot moves after initialization.
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std::vector<TrajectoryStep> shutdown_trajectory¶
Trajectory which is executed in the shutdown method.
Use this to move the robot to a “rest position” during shutdown of the robot driver. It can consist of arbitrarily many steps. Leave it empty to not move during shutdown.
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std::vector<std::string> run_duration_logfiles¶
List of file to which run duration logs are written.
You can specify multiple files here if you want to log the runtime of different independent components separately. For example on a robot with multiple manipulators, you can have a separate log for each manipulator, so if one of them is replaced, only the log file of this manipulator needs to be changed.
Public Static Functions
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static Config load_config(const std::string &config_file_name)¶
Load driver configuration from file.
Load the configuration from the specified YAML file. The file is expected to have the same structure/key naming as the Config struct. If a value can not be read from the file, the application exists with an error message.
- Parameters:
config_file_name – Path/name of the configuration YAML file.
- Returns:
Configuration
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static inline HomingMethod parse_homing_method_name(const std::string method_name)¶
Parse a homing method name.
- Parameters:
method_name – Homing method name.
- Throws:
std::invalid_argument – if the given string does not represent a valid homing method.
- Returns:
The corresponding homing method.
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static inline std::string get_homing_method_name(HomingMethod method)¶
Get the name of the specified homing method.
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static Config load_config(const std::string &config_file_name)
Load driver configuration from file.
Load the configuration from the specified YAML file. The file is expected to have the same structure/key naming as the Config struct. If a value can not be read from the file, the application exists with an error message.
- Parameters:
config_file_name – Path/name of the configuration YAML file.
- Returns:
Configuration
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static inline HomingMethod parse_homing_method_name(const std::string method_name)
Parse a homing method name.
- Parameters:
method_name – Homing method name.
- Throws:
std::invalid_argument – if the given string does not represent a valid homing method.
- Returns:
The corresponding homing method.
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static inline std::string get_homing_method_name(HomingMethod method)
Get the name of the specified homing method.
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struct CalibrationParameters¶
Parameters related to calibration.
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struct PositionControlGains¶
Default control gains for the position PD controller.
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struct TrajectoryStep¶
A sub-goal of a trajectory.
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typedef std::array<std::string, N_MOTOR_BOARDS> CanPortArray¶