Controller Class Reference

Implementation of Simbicon (Simple biped locomotion control) for Atlas robot. More...

#include <Controller.hpp>

Collaboration diagram for Controller:

Public Member Functions
	Controller (dart::dynamics::SkeletonPtr _atlasRobot, dart::dynamics::ConstraintSolver *_collisionSolver)
	Constructor.
virtual	~Controller ()
	Destructor.
virtual void	update ()
	Called before every simulation time step in MyWindow class. More...
dart::dynamics::SkeletonPtr	getAtlasRobot ()
StateMachine *	getCurrentState ()
	Get current state machine.
void	changeStateMachine (StateMachine *_stateMachine, double _currentTime)
	Change state to _stateMachine.
void	changeStateMachine (const std::string &_name, double _currentTime)
	Change state machine to a state machine whose names is _name.
void	changeStateMachine (std::size_t _idx, double _currentTime)
	Change state machine to a state machine whose index is _idx.
bool	isAllowingControl () const
	Get true iff this controller is currently allowing to control the Atlas robot.
void	keyboard (unsigned char _key, int _x, int _y, double _currentTime)
	Keyboard control.
void	printDebugInfo () const
	Print debug information.
void	harnessPelvis ()
	Harness the robot.
void	unharnessPelvis ()
	Unharness the robot.
void	harnessLeftFoot ()
	Harness the robot.
void	unharnessLeftFoot ()
	Harness the robot.
void	harnessRightFoot ()
	Harness the robot.
void	unharnessRightFoot ()
	Harness the robot.
void	resetRobot ()
	Reset the robot.
void	setVerbosity (bool verbosity)
	Set the verbosity.
	Controller (dart::dynamics::SkeletonPtr _atlasRobot, dart::dynamics::ConstraintSolver *_collisionSolver)
	Constructor.
virtual	~Controller ()
	Destructor.
virtual void	update (double _currentTime)
	Called before every simulation time step in MyWindow class. More...
dart::dynamics::SkeletonPtr	getAtlasRobot ()
StateMachine *	getCurrentState ()
	Get current state machine.
void	changeStateMachine (StateMachine *_stateMachine, double _currentTime)
	Change state to _stateMachine.
void	changeStateMachine (const std::string &_name, double _currentTime)
	Change state machine to a state machine whose names is _name.
void	changeStateMachine (std::size_t _idx, double _currentTime)
	Change state machine to a state machine whose index is _idx.
void	keyboard (unsigned char _key, int _x, int _y, double _currentTime)
	Keyboard control.
void	printDebugInfo () const
	Print debug information.
void	harnessPelvis ()
	Harness the robot.
void	unharnessPelvis ()
	Unharness the robot.
void	harnessLeftFoot ()
	Harness the robot.
void	unharnessLeftFoot ()
	Harness the robot.
void	harnessRightFoot ()
	Harness the robot.
void	unharnessRightFoot ()
	Harness the robot.
void	resetRobot ()
	Reset the robot.
	Controller (dart::dynamics::SkeletonPtr _skel, double _t)
Eigen::VectorXd	getTorques ()
double	getTorque (int _index)
void	setDesiredDof (int _index, double _val)
void	computeTorques ()
dart::dynamics::MetaSkeletonPtr	getSkel ()
Eigen::VectorXd	getDesiredDofs ()
Eigen::MatrixXd	getKp ()
Eigen::MatrixXd	getKd ()
	Controller (const dart::dynamics::SkeletonPtr &_skel, dart::dynamics::ConstraintSolver *_collisionSolver, double _t)
Eigen::VectorXd	getTorques ()
double	getTorque (int _index)
void	setDesiredDof (int _index, double _val)
void	computeTorques (const Eigen::VectorXd &_dof, const Eigen::VectorXd &_dofVel)
dart::dynamics::SkeletonPtr	getSkel ()
Eigen::VectorXd	getDesiredDofs ()
Eigen::MatrixXd	getKp ()
Eigen::MatrixXd	getKd ()
void	setConstrForces (const Eigen::VectorXd &_constrForce)
	Controller (dart::dynamics::SkeletonPtr _robot, dart::dynamics::BodyNode *_endEffector)
	Constructor.
virtual	~Controller ()
	Destructor.
void	update (const Eigen::Vector3d &_targetPosition)
dart::dynamics::SkeletonPtr	getRobot () const
	Get robot.
dart::dynamics::BodyNode *	getEndEffector () const
	Get end effector of the robot.
virtual void	keyboard (unsigned char _key, int _x, int _y)
	Keyboard control.
	Controller (const SkeletonPtr &biped)
	Constructor.
void	setTargetPositions (const Eigen::VectorXd &pose)
	Reset the desired dof position to the current position.
void	clearForces ()
	Clear commanding forces.
void	addPDForces ()
	Add commanding forces from PD controllers.
void	addSPDForces ()
	Add commanind forces from Stable-PD controllers.
void	addAnkleStrategyForces ()
	add commanding forces from ankle strategy
void	setWheelCommands ()
void	changeWheelSpeed (double increment)
	Controller (const SkeletonPtr &biped)
	Constructor.
void	setTargetPositions (const Eigen::VectorXd &pose)
	Reset the desired dof position to the current position.
void	clearForces ()
	Clear commanding forces.
void	addPDForces ()
	Add commanding forces from PD controllers (Lesson 2 Answer)
void	addSPDForces ()
	Add commanind forces from Stable-PD controllers (Lesson 3 Answer)
void	addAnkleStrategyForces ()
	add commanding forces from ankle strategy (Lesson 4 Answer)
void	setWheelCommands ()
void	changeWheelSpeed (double increment)
	Controller (const SkeletonPtr &manipulator, const SkeletonPtr &)
void	setPDForces ()
	Compute a stable PD controller that also compensates for gravity and Coriolis forces.
void	setOperationalSpaceForces ()
	Compute an operational space controller to push on the first domino.
	Controller (const SkeletonPtr &manipulator, const SkeletonPtr &domino)
void	setPDForces ()
	Compute a stable PD controller that also compensates for gravity and Coriolis forces.
void	setOperationalSpaceForces ()
	Compute an operational space controller to push on the first domino.

Protected Member Functions
bool	computeCoP (dart::dynamics::BodyNode *_node, Eigen::Vector3d *_cop)
Eigen::Vector3d	evalLinMomentum (const Eigen::VectorXd &_dofVel)
Eigen::Vector3d	evalAngMomentum (const Eigen::VectorXd &_dofVel)
Eigen::VectorXd	adjustAngMomentum (Eigen::VectorXd _deltaMomentum, Eigen::VectorXd _controlledAxis)

Protected Attributes
dart::dynamics::SkeletonPtr	mAtlasRobot
	Atlas robot skeleton.
dart::dynamics::ConstraintSolver *	mConstratinSolver
	Conllision detector.
std::vector< StateMachine * >	mStateMachines
	List of state machines.
StateMachine *	mCurrentStateMachine
	Current state machine.
bool	mPelvisHarnessOn
	Flag for pelvis harnessing.
bool	mLeftFootHarnessOn
	Flag for left foot harnessing.
bool	mRightFootHarnessOn
	Flag for right foot harnessing.
std::size_t	mCoronalLeftHip
	Index for coronal left hip.
std::size_t	mCoronalRightHip
	Index for coronal right hip.
std::size_t	mSagitalLeftHip
	Index for sagital left hip.
std::size_t	mSagitalRightHip
	Index for sagital right hip.
double	mMinPelvisHeight
	Lower bound for emergency stop.
double	mMaxPelvisHeight
	Upper bound for emergency stop.
dart::dynamics::MetaSkeletonPtr	mSkel
dart::dynamics::BodyNodePtr	mLeftHeel
Eigen::VectorXd	mTorques
Eigen::VectorXd	mDesiredDofs
Eigen::MatrixXd	mKp
	Control gains for the proportional error terms in the PD controller.
Eigen::MatrixXd	mKd
	Control gains for the derivative error terms in the PD controller.
std::size_t	mLeftFoot [2]
std::size_t	mRightFoot [2]
int	mFrame
double	mTimestep
double	mPreOffset
	For ankle strategy: Error in the previous timestep.
dart::dynamics::SkeletonPtr	mSkel
dart::dynamics::ConstraintSolver *	mCollisionHandle
Eigen::VectorXd	mConstrForces
SkeletonPtr	mBiped
	The biped Skeleton that we will be controlling.
Eigen::VectorXd	mTargetPositions
	Target positions for the PD controllers.
double	mSpeed
	For velocity actuator: Current speed of the skateboard.
SkeletonPtr	mManipulator
	The manipulator Skeleton that we will be controlling.
SimpleFramePtr	mTarget
	The target pose for the controller.
BodyNodePtr	mEndEffector
	End effector for the manipulator.
Eigen::VectorXd	mQDesired
	Desired joint positions when not applying the operational space controller.
Eigen::Vector3d	mOffset
	The offset of the end effector from the body origin of the last BodyNode in the manipulator.
double	mKpPD
	Control gains for the proportional error terms in the PD controller.
double	mKdPD
	Control gains for the derivative error terms in the PD controller.
double	mKpOS
	Control gains for the proportional error terms in the operational space controller.
double	mKdOS
	Control gains for the derivative error terms in the operational space controller.

Detailed Description

Implementation of Simbicon (Simple biped locomotion control) for Atlas robot.

Operational space controller for 6-dof manipulator.

SIMBICON for Atlas robot.

Reference: http://dl.acm.org/citation.cfm?id=1276509

Member Function Documentation

update() [1/2]

void Controller::update ( double  _currentTime )

virtual

Called before every simulation time step in MyWindow class.

Compute control force and apply it to Atlas robot

update() [2/2]

void Controller::update ( )

virtual

Called before every simulation time step in MyWindow class.

Compute control force and apply it to Atlas robot

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

• examples/atlas_simbicon/Controller.hpp
• tutorials/tutorial_biped/main.cpp
• examples/atlas_simbicon/Controller.cpp