#include <controller.h>

Inheritance diagram for Controller:

Public Member Functions
	Controller (PolyDriver _drvTorso, PolyDriver _drvHead, ExchangeData *_commData, const double _neckTime, const double _eyesTime, const double _min_abs_vel, const unsigned int _period)
virtual	~Controller ()
void	findMinimumAllowedVergence ()
void	minAllowedVergenceChanged () override
void	resetCtrlEyes ()
void	doSaccade (const Vector &ang, const Vector &vel)
bool	look (const Vector &x)
void	stopControl ()
void	printIter (Vector &xd, Vector &fp, Vector &qd, Vector &q, Vector &v, double printTime)
bool	threadInit () override
void	threadRelease () override
void	afterStart (bool s) override
void	run () override
void	suspend ()
void	resume ()
double	getTneck () const
double	getTeyes () const
void	setTneck (const double execTime)
void	setTeyes (const double execTime)
bool	isMotionDone ()
void	setTrackingMode (const bool f)
bool	getTrackingMode () const
bool	setGazeStabilization (const bool f)
bool	getGazeStabilization () const
bool	getDesired (Vector &des)
bool	getVelocity (Vector &vel)
bool	getPose (const string &poseSel, Vector &x, Stamp &stamp)
bool	registerMotionOngoingEvent (const double checkPoint)
bool	unregisterMotionOngoingEvent (const double checkPoint)
Bottle	listMotionOngoingEvents ()
	Controller (ResourceFinder &_rf, inPort _port_q, exchangeData _commData, unsigned int period)
virtual bool	threadInit ()
virtual void	afterStart (bool s)
virtual void	run ()
virtual void	threadRelease ()
Public Member Functions inherited from GazeComponent
virtual bool	getExtrinsicsMatrix (const string &type, Matrix &M)
virtual bool	setExtrinsicsMatrix (const string &type, const Matrix &M)

Protected Member Functions
Vector	computedxFP (const Matrix &H, const Vector &v, const Vector &w, const Vector &x_FP)
Vector	computeNeckVelFromdxFP (const Vector &fp, const Vector &dfp)
Vector	computeEyesVelFromdxFP (const Vector &dfp)
bool	areJointsHealthyAndSet ()
void	setJointsCtrlMode ()
void	stopLimb (const bool execStopPosition=true)
void	notifyEvent (const string &event, const double checkPoint=-1.0)
void	motionOngoingEventsHandling ()
void	motionOngoingEventsFlush ()
void	stopControlHelper ()

Protected Attributes
iCubHeadCenter *	neck
iCubInertialSensor *	imu
iKinChain *	chainNeck
iKinChain *	chainEyeL
iKinChain *	chainEyeR
PolyDriver *	drvTorso
PolyDriver *	drvHead
IControlMode *	modHead
IPositionControl *	posHead
IVelocityControl *	velHead
IPositionDirect *	posNeck
ExchangeData *	commData
minJerkVelCtrl *	mjCtrlNeck
minJerkVelCtrl *	mjCtrlEyes
Integrator *	IntState
Integrator *	IntPlan
Integrator *	IntStabilizer
BufferedPort< Vector >	port_x
BufferedPort< Vector >	port_q
BufferedPort< Bottle >	port_event
BufferedPort< Bottle >	port_debug
Stamp	txInfo_x
Stamp	txInfo_q
Stamp	txInfo_pose
Stamp	txInfo_event
Stamp	txInfo_debug
mutex	mutexRun
mutex	mutexChain
mutex	mutexCtrl
mutex	mutexData
mutex	mutexLook
mutex	mtx_eventLook
condition_variable	cv_eventLook
unsigned int	period
bool	unplugCtrlEyes
bool	ctrlInhibited
bool	motionDone
bool	reliableGyro
bool	stabilizeGaze
int	nJointsTorso
int	nJointsHead
double	ctrlActiveRisingEdgeTime
double	saccadeStartTime
double	printAccTime
double	neckTime
double	eyesTime
double	pathPerc
double	min_abs_vel
double	startupMinVer
double	q_stamp
double	Ts
Matrix	lim
Vector	qddeg
Vector	qdeg
Vector	vdeg
Vector	v
Vector	vNeck
Vector	vEyes
Vector	q0
Vector	qd
Vector	qdNeck
Vector	qdEyes
Vector	fbTorso
Vector	fbHead
Vector	fbNeck
Vector	fbEyes
vector< int >	neckJoints
vector< int >	eyesJoints
vector< int >	jointsToSet
multiset< double >	motionOngoingEvents
multiset< double >	motionOngoingEventsCurrent
ResourceFinder &	rf
iKinLimb *	limb
iKinChain *	chain
MultiRefMinJerkCtrl *	ctrl
exchangeData *	commData
inPort *	port_q
Port	port_v
Port	port_x
Protected Attributes inherited from GazeComponent
iCubEye *	eyeL {nullptr}
iCubEye *	eyeR {nullptr}

Detailed Description

Definition at line 53 of file controller.h.

Constructor & Destructor Documentation

◆ Controller() [1/2]

Controller::Controller	(	PolyDriver *	_drvTorso,
		PolyDriver *	_drvHead,
		ExchangeData *	_commData,
		const double	_neckTime,
		const double	_eyesTime,
		const double	_min_abs_vel,
		const unsigned int	_period )

Definition at line 28 of file controller.cpp.

◆ ~Controller()

Controller::~Controller ( )

virtual

Definition at line 158 of file controller.cpp.

◆ Controller() [2/2]

Controller::Controller	(	ResourceFinder &	_rf,
		inPort *	_port_q,
		exchangeData *	_commData,
		unsigned int	period )

inline

Definition at line 271 of file main.cpp.

Member Function Documentation

◆ afterStart() [1/2]

virtual void Controller::afterStart ( bool s )

inlinevirtual

Definition at line 317 of file main.cpp.

◆ afterStart() [2/2]

void Controller::afterStart ( bool s )

override

Definition at line 402 of file controller.cpp.

◆ areJointsHealthyAndSet()

bool Controller::areJointsHealthyAndSet ( )

protected

Definition at line 547 of file controller.cpp.

◆ computedxFP()

Vector Controller::computedxFP	(	const Matrix &	H,
		const Vector &	v,
		const Vector &	w,
		const Vector &	x_FP )

protected

Definition at line 412 of file controller.cpp.

◆ computeEyesVelFromdxFP()

Vector Controller::computeEyesVelFromdxFP ( const Vector & dfp )

protected

Definition at line 464 of file controller.cpp.

◆ computeNeckVelFromdxFP()

Vector Controller::computeNeckVelFromdxFP	(	const Vector &	fp,
		const Vector &	dfp )

protected

Definition at line 435 of file controller.cpp.

◆ doSaccade()

void Controller::doSaccade	(	const Vector &	ang,
		const Vector &	vel )

Definition at line 476 of file controller.cpp.

◆ findMinimumAllowedVergence()

void Controller::findMinimumAllowedVergence ( )

Definition at line 173 of file controller.cpp.

◆ getDesired()

bool Controller::getDesired ( Vector & des )

Definition at line 1104 of file controller.cpp.

◆ getGazeStabilization()

bool Controller::getGazeStabilization ( ) const

Definition at line 635 of file controller.cpp.

◆ getPose()

bool Controller::getPose	(	const string &	poseSel,
		Vector &	x,
		Stamp &	stamp )

Definition at line 1122 of file controller.cpp.

◆ getTeyes()

double Controller::getTeyes ( ) const

Definition at line 1033 of file controller.cpp.

◆ getTneck()

double Controller::getTneck ( ) const

Definition at line 1026 of file controller.cpp.

◆ getTrackingMode()

bool Controller::getTrackingMode ( ) const

Definition at line 1097 of file controller.cpp.

◆ getVelocity()

bool Controller::getVelocity ( Vector & vel )

Definition at line 1113 of file controller.cpp.

◆ isMotionDone()

bool Controller::isMotionDone ( )

Definition at line 1073 of file controller.cpp.

◆ listMotionOngoingEvents()

Bottle Controller::listMotionOngoingEvents ( )

Definition at line 1183 of file controller.cpp.

◆ look()

bool Controller::look ( const Vector & x )

Definition at line 519 of file controller.cpp.

◆ minAllowedVergenceChanged()

void Controller::minAllowedVergenceChanged ( )

overridevirtual

Reimplemented from GazeComponent.

Definition at line 210 of file controller.cpp.

◆ motionOngoingEventsFlush()

void Controller::motionOngoingEventsFlush ( )

protected

Definition at line 253 of file controller.cpp.

◆ motionOngoingEventsHandling()

void Controller::motionOngoingEventsHandling ( )

protected

Definition at line 238 of file controller.cpp.

◆ notifyEvent()

void Controller::notifyEvent	(	const string &	event,
		const double	checkPoint = -1.0 )

protected

Definition at line 218 of file controller.cpp.

◆ printIter()

void Controller::printIter	(	Vector &	xd,
		Vector &	fp,
		Vector &	qd,
		Vector &	q,
		Vector &	v,
		double	printTime )

Definition at line 343 of file controller.cpp.

◆ registerMotionOngoingEvent()

bool Controller::registerMotionOngoingEvent ( const double checkPoint )

Definition at line 1149 of file controller.cpp.

◆ resetCtrlEyes()

void Controller::resetCtrlEyes ( )

Definition at line 538 of file controller.cpp.

◆ resume()

void Controller::resume ( )

Definition at line 1013 of file controller.cpp.

◆ run() [1/2]

virtual void Controller::run ( )

inlinevirtual

Definition at line 326 of file main.cpp.

◆ run() [2/2]

void Controller::run ( )

override

Definition at line 642 of file controller.cpp.

◆ setGazeStabilization()

bool Controller::setGazeStabilization ( const bool f )

Definition at line 600 of file controller.cpp.

◆ setJointsCtrlMode()

void Controller::setJointsCtrlMode ( )

protected

Definition at line 576 of file controller.cpp.

◆ setTeyes()

void Controller::setTeyes ( const double execTime )

Definition at line 1055 of file controller.cpp.

◆ setTneck()

void Controller::setTneck ( const double execTime )

Definition at line 1040 of file controller.cpp.

◆ setTrackingMode()

void Controller::setTrackingMode ( const bool f )

Definition at line 1081 of file controller.cpp.

◆ stopControl()

void Controller::stopControl ( )

Definition at line 321 of file controller.cpp.

◆ stopControlHelper()

void Controller::stopControlHelper ( )

protected

Definition at line 329 of file controller.cpp.

◆ stopLimb()

void Controller::stopLimb ( const bool execStopPosition = true )

protected

Definition at line 265 of file controller.cpp.

◆ suspend()

void Controller::suspend ( )

Definition at line 1001 of file controller.cpp.

◆ threadInit() [1/2]

virtual bool Controller::threadInit ( )

inlinevirtual

Definition at line 280 of file main.cpp.

◆ threadInit() [2/2]

bool Controller::threadInit ( )

override

Definition at line 362 of file controller.cpp.

◆ threadRelease() [1/2]

virtual void Controller::threadRelease ( )

inlinevirtual

Definition at line 347 of file main.cpp.

◆ threadRelease() [2/2]

void Controller::threadRelease ( )

override

Definition at line 379 of file controller.cpp.

◆ unregisterMotionOngoingEvent()

bool Controller::unregisterMotionOngoingEvent ( const double checkPoint )

Definition at line 1163 of file controller.cpp.

Member Data Documentation

◆ chain

iKinChain* Controller::chain

protected

Definition at line 261 of file main.cpp.

◆ chainEyeL

iKinChain * Controller::chainEyeL

protected

Definition at line 58 of file controller.h.

◆ chainEyeR

iKinChain * Controller::chainEyeR

protected

Definition at line 58 of file controller.h.

◆ chainNeck

iKinChain* Controller::chainNeck

protected

Definition at line 58 of file controller.h.

◆ commData [1/2]

ExchangeData* Controller::commData

protected

Definition at line 64 of file controller.h.

◆ commData [2/2]

exchangeData* Controller::commData

protected

Definition at line 263 of file main.cpp.

◆ ctrl

MultiRefMinJerkCtrl* Controller::ctrl

protected

Definition at line 262 of file main.cpp.

◆ ctrlActiveRisingEdgeTime

double Controller::ctrlActiveRisingEdgeTime

protected

Definition at line 97 of file controller.h.

◆ ctrlInhibited

bool Controller::ctrlInhibited

protected

Definition at line 91 of file controller.h.

◆ cv_eventLook

condition_variable Controller::cv_eventLook

protected

Definition at line 88 of file controller.h.

◆ drvHead

PolyDriver * Controller::drvHead

protected

Definition at line 59 of file controller.h.

◆ drvTorso

PolyDriver* Controller::drvTorso

protected

Definition at line 59 of file controller.h.

◆ eyesJoints

vector<int> Controller::eyesJoints

protected

Definition at line 113 of file controller.h.

◆ eyesTime

double Controller::eyesTime

protected

Definition at line 101 of file controller.h.

◆ fbEyes

Vector Controller::fbEyes

protected

Definition at line 112 of file controller.h.

◆ fbHead

Vector Controller::fbHead

protected

Definition at line 112 of file controller.h.

◆ fbNeck

Vector Controller::fbNeck

protected

Definition at line 112 of file controller.h.

◆ fbTorso

Vector Controller::fbTorso

protected

Definition at line 112 of file controller.h.

◆ imu

iCubInertialSensor* Controller::imu

protected

Definition at line 57 of file controller.h.

◆ IntPlan

Integrator* Controller::IntPlan

protected

Definition at line 69 of file controller.h.

◆ IntStabilizer

Integrator* Controller::IntStabilizer

protected

Definition at line 70 of file controller.h.

◆ IntState

Integrator* Controller::IntState

protected

Definition at line 68 of file controller.h.

◆ jointsToSet

vector<int> Controller::jointsToSet

protected

Definition at line 114 of file controller.h.

◆ lim

Matrix Controller::lim

protected

Definition at line 108 of file controller.h.

◆ limb

iKinLimb* Controller::limb

protected

Definition at line 260 of file main.cpp.

◆ min_abs_vel

double Controller::min_abs_vel

protected

Definition at line 103 of file controller.h.

◆ mjCtrlEyes

minJerkVelCtrl* Controller::mjCtrlEyes

protected

Definition at line 67 of file controller.h.

◆ mjCtrlNeck

minJerkVelCtrl* Controller::mjCtrlNeck

protected

Definition at line 66 of file controller.h.

◆ modHead

IControlMode* Controller::modHead

protected

Definition at line 60 of file controller.h.

◆ motionDone

bool Controller::motionDone

protected

Definition at line 92 of file controller.h.

◆ motionOngoingEvents

multiset<double> Controller::motionOngoingEvents

protected

Definition at line 116 of file controller.h.

◆ motionOngoingEventsCurrent

multiset<double> Controller::motionOngoingEventsCurrent

protected

Definition at line 117 of file controller.h.

◆ mtx_eventLook

mutex Controller::mtx_eventLook

protected

Definition at line 87 of file controller.h.

◆ mutexChain

mutex Controller::mutexChain

protected

Definition at line 83 of file controller.h.

◆ mutexCtrl

mutex Controller::mutexCtrl

protected

Definition at line 84 of file controller.h.

◆ mutexData

mutex Controller::mutexData

protected

Definition at line 85 of file controller.h.

◆ mutexLook

mutex Controller::mutexLook

protected

Definition at line 86 of file controller.h.

◆ mutexRun

mutex Controller::mutexRun

protected

Definition at line 82 of file controller.h.

◆ neck

iCubHeadCenter* Controller::neck

protected

Definition at line 56 of file controller.h.

◆ neckJoints

vector<int> Controller::neckJoints

protected

Definition at line 113 of file controller.h.

◆ neckTime

double Controller::neckTime

protected

Definition at line 100 of file controller.h.

◆ nJointsHead

int Controller::nJointsHead

protected

Definition at line 96 of file controller.h.

◆ nJointsTorso

int Controller::nJointsTorso

protected

Definition at line 95 of file controller.h.

◆ pathPerc

double Controller::pathPerc

protected

Definition at line 102 of file controller.h.

◆ period

unsigned int Controller::period

protected

Definition at line 89 of file controller.h.

◆ port_debug

BufferedPort<Bottle> Controller::port_debug

protected

Definition at line 75 of file controller.h.

◆ port_event

BufferedPort<Bottle> Controller::port_event

protected

Definition at line 74 of file controller.h.

◆ port_q [1/2]

BufferedPort<Vector> Controller::port_q

protected

Definition at line 73 of file controller.h.

◆ port_q [2/2]

inPort* Controller::port_q

protected

Definition at line 265 of file main.cpp.

◆ port_v

Port Controller::port_v

protected

Definition at line 266 of file main.cpp.

◆ port_x [1/2]

BufferedPort<Vector> Controller::port_x

protected

Definition at line 72 of file controller.h.

◆ port_x [2/2]

Port Controller::port_x

protected

Definition at line 267 of file main.cpp.

◆ posHead

IPositionControl* Controller::posHead

protected

Definition at line 61 of file controller.h.

◆ posNeck

IPositionDirect* Controller::posNeck

protected

Definition at line 63 of file controller.h.

◆ printAccTime

double Controller::printAccTime

protected

Definition at line 99 of file controller.h.

◆ q0

Vector Controller::q0

protected

Definition at line 111 of file controller.h.

◆ q_stamp

double Controller::q_stamp

protected

Definition at line 105 of file controller.h.

◆ qd

Vector Controller::qd

protected

Definition at line 111 of file controller.h.

◆ qddeg

Vector Controller::qddeg

protected

Definition at line 109 of file controller.h.

◆ qdeg

Vector Controller::qdeg

protected

Definition at line 109 of file controller.h.

◆ qdEyes

Vector Controller::qdEyes

protected

Definition at line 111 of file controller.h.

◆ qdNeck

Vector Controller::qdNeck

protected

Definition at line 111 of file controller.h.

◆ reliableGyro

bool Controller::reliableGyro

protected

Definition at line 93 of file controller.h.

◆ rf

ResourceFinder& Controller::rf

protected

Definition at line 259 of file main.cpp.

◆ saccadeStartTime

double Controller::saccadeStartTime

protected

Definition at line 98 of file controller.h.

◆ stabilizeGaze

bool Controller::stabilizeGaze

protected

Definition at line 94 of file controller.h.

◆ startupMinVer

double Controller::startupMinVer

protected

Definition at line 104 of file controller.h.

◆ Ts

double Controller::Ts

protected

Definition at line 106 of file controller.h.

◆ txInfo_debug

Stamp Controller::txInfo_debug

protected

Definition at line 80 of file controller.h.

◆ txInfo_event

Stamp Controller::txInfo_event

protected

Definition at line 79 of file controller.h.

◆ txInfo_pose

Stamp Controller::txInfo_pose

protected

Definition at line 78 of file controller.h.

◆ txInfo_q

Stamp Controller::txInfo_q

protected

Definition at line 77 of file controller.h.

◆ txInfo_x

Stamp Controller::txInfo_x

protected

Definition at line 76 of file controller.h.

◆ unplugCtrlEyes

bool Controller::unplugCtrlEyes

protected

Definition at line 90 of file controller.h.

◆ v

Vector Controller::v

protected

Definition at line 110 of file controller.h.

◆ vdeg

Vector Controller::vdeg

protected

Definition at line 109 of file controller.h.

◆ velHead

IVelocityControl* Controller::velHead

protected

Definition at line 62 of file controller.h.

◆ vEyes

Vector Controller::vEyes

protected

Definition at line 110 of file controller.h.

◆ vNeck

Vector Controller::vNeck

protected

Definition at line 110 of file controller.h.

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

icub-main/src/modules/iKinGazeCtrl/include/iCub/controller.h
icub-tutorials/src/iKin/genericChainController/main.cpp
icub-main/src/modules/iKinGazeCtrl/src/controller.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Controller() [1/2]

◆ ~Controller()

◆ Controller() [2/2]

Member Function Documentation

◆ afterStart() [1/2]

◆ afterStart() [2/2]

◆ areJointsHealthyAndSet()

◆ computedxFP()

◆ computeEyesVelFromdxFP()

◆ computeNeckVelFromdxFP()

◆ doSaccade()

◆ findMinimumAllowedVergence()

◆ getDesired()

◆ getGazeStabilization()

◆ getPose()

◆ getTeyes()

◆ getTneck()

◆ getTrackingMode()

◆ getVelocity()

◆ isMotionDone()

◆ listMotionOngoingEvents()

◆ look()

◆ minAllowedVergenceChanged()

◆ motionOngoingEventsFlush()

◆ motionOngoingEventsHandling()

◆ notifyEvent()

◆ printIter()

◆ registerMotionOngoingEvent()

◆ resetCtrlEyes()

◆ resume()

◆ run() [1/2]

◆ run() [2/2]

◆ setGazeStabilization()

◆ setJointsCtrlMode()

◆ setTeyes()

◆ setTneck()

◆ setTrackingMode()

◆ stopControl()

◆ stopControlHelper()

◆ stopLimb()

◆ suspend()

◆ threadInit() [1/2]

◆ threadInit() [2/2]

◆ threadRelease() [1/2]

◆ threadRelease() [2/2]

◆ unregisterMotionOngoingEvent()

Member Data Documentation

◆ chain

◆ chainEyeL

◆ chainEyeR

◆ chainNeck

◆ commData [1/2]

◆ commData [2/2]

◆ ctrl

◆ ctrlActiveRisingEdgeTime

◆ ctrlInhibited

◆ cv_eventLook

◆ drvHead

◆ drvTorso

◆ eyesJoints

◆ eyesTime

◆ fbEyes

◆ fbHead

◆ fbNeck

◆ fbTorso

◆ imu

◆ IntPlan

◆ IntStabilizer

◆ IntState

◆ jointsToSet

◆ lim

◆ limb

◆ min_abs_vel

◆ mjCtrlEyes

◆ mjCtrlNeck