iCub-main
iCub::iKin::MultiRefMinJerkCtrl Class Reference

A class derived from iKinCtrl implementing the multi-referential approach (pdf). More...

#include <iKinInv.h>

Inheritance diagram for iCub::iKin::MultiRefMinJerkCtrl:

## Public Member Functions

MultiRefMinJerkCtrl (iKinChain &c, unsigned int _ctrlPose, double _Ts, bool nonIdealPlant=false)
Constructor. More...

virtual yarp::sig::Vector iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, const unsigned int verbose=0)
Executes one iteration of the control algorithm. More...

virtual yarp::sig::Vector iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, yarp::sig::Vector &xdot_set, const unsigned int verbose=0)
Executes one iteration of the control algorithm. More...

virtual void restart (const yarp::sig::Vector &q0)
Reinitializes the algorithm's internal state and resets the starting point. More...

virtual std::string getAlgoName ()
Returns the algorithm's name. More...

double get_guardRatio () const
Returns the guard ratio for the joints span (0.1 by default). More...

double get_gamma () const
Returns the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller. More...

double get_execTime () const
Returns the task execution time in seconds (1.0 by default). More...

yarp::sig::Vector get_qdot () const
Returns the actual derivative of joint angles. More...

yarp::sig::Vector get_xdot () const
Returns the actual derivative of End-Effector Pose (6 components; xdot=J*qdot). More...

void set_guardRatio (double _guardRatio)
Sets the guard ratio (in [0 1]). More...

void set_gamma (double _gamma)
Sets the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller. More...

virtual void set_q (const yarp::sig::Vector &q0)
Sets the joint angles values. More...

double set_execTime (const double _execTime, const bool warn=false)
Sets the task execution time in seconds. More...

Adds to the controller input a further compensation term. More...

void setPlantParameters (const yarp::os::Property &parameters, const std::string &entryTag="dimension")
Allows user to assign values to the parameters of plant under control (for the configuration space only). More...

virtual ~MultiRefMinJerkCtrl ()
Destructor. More...

Public Member Functions inherited from iCub::iKin::iKinCtrl
iKinCtrl (iKinChain &c, unsigned int _ctrlPose)
Constructor. More...

virtual void setChainConstraints (bool _constrained)
Enables/Disables joint angles constraints. More...

void switchWatchDog (bool sw)
Switch on/off the watchDog mechanism to trigger deadLocks. More...

virtual void setInTargetTol (double tol_x)
Sets tolerance for in-target check (5e-3 by default). More...

virtual double getInTargetTol () const
Returns tolerance for in-target check. More...

virtual void setWatchDogTol (double tol_q)
Sets tolerance for watchDog check (1e-4 by default). More...

virtual double getWatchDogTol () const
Returns tolerance for watchDog check. More...

virtual void setWatchDogMaxIter (int maxIter)
Sets maximum number of iterations to trigger the watchDog (200 by default). More...

virtual int getWatchDogMaxIter () const
Returns maximum number of iterations to trigger the watchDog. More...

virtual bool isInTarget ()
Checks if the End-Effector is in target. More...

int get_state () const
Returns the algorithm's state. More...

void set_ctrlPose (unsigned int _ctrlPose)
Sets the state of Pose control settings. More...

unsigned int get_ctrlPose () const
Returns the state of Pose control settings. More...

unsigned int get_dim () const
Returns the number of Chain DOF. More...

unsigned int get_iter () const
Returns the number of performed iterations. More...

virtual yarp::sig::Vector get_x () const
Returns the actual cartesian position of the End-Effector. More...

virtual yarp::sig::Vector get_e () const
Returns the actual cartesian position error. More...

virtual yarp::sig::Vector get_q () const
Returns the actual joint angles values. More...

virtual yarp::sig::Matrix get_J () const
Returns the actual Jacobian used in computation. More...

virtual double dist () const
Returns the actual distance from the target in cartesian space (euclidean norm is used). More...

virtual ~iKinCtrl ()
Default destructor. More...

## Protected Member Functions

virtual void computeGuard ()

virtual void computeWeight ()

virtual yarp::sig::Vector iterate (yarp::sig::Vector &xd, yarp::sig::Vector &qd, yarp::sig::Vector *xdot_set, const unsigned int verbose)

virtual void inTargetFcn ()
Method called whenever in target. More...

Method called whenever the watchDog is triggered. More...

virtual void printIter (const unsigned int verbose)
Dumps warning or status messages. More...

virtual bool test_convergence (const double)
Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance. More...

virtual yarp::sig::Vector iterate (yarp::sig::Vector &, const unsigned int)
Executes one iteration of the control algorithm. More...

virtual yarp::sig::Vector solve (yarp::sig::Vector &, const double, const int, const unsigned int, int *, bool *)
Iterates the control algorithm trying to converge on the target. More...

Protected Member Functions inherited from iCub::iKin::iKinCtrl
virtual yarp::sig::Vector calc_e ()
Computes the error according to the current controller settings (complete pose/translational/rotational part). More...

virtual void update_state ()

virtual void watchDog ()
Handles the watchDog. More...

virtual yarp::sig::Vector checkVelocity (const yarp::sig::Vector &_qdot, double _Ts)
Checks each joint velocity and sets it to zero if it steers the joint out of range. More...

unsigned int printHandling (const unsigned int verbose=0)
Method to be called within the printIter routine inherited by children in order to handle the highest word of verbose integer. More...

## Protected Attributes

ctrl::minJerkVelCtrlmjCtrlJoint

ctrl::IntegratorI

yarp::sig::Vector q_set

yarp::sig::Vector qdot

yarp::sig::Vector xdot

yarp::sig::Matrix W

yarp::sig::Matrix Eye6

double Ts

double execTime

double gamma

double guardRatio

yarp::sig::Vector qGuard

yarp::sig::Vector qGuardMinInt

yarp::sig::Vector qGuardMinExt

yarp::sig::Vector qGuardMinCOG

yarp::sig::Vector qGuardMaxInt

yarp::sig::Vector qGuardMaxExt

yarp::sig::Vector qGuardMaxCOG

yarp::sig::Vector compensation

Protected Attributes inherited from iCub::iKin::iKinCtrl
iKinChainchain

unsigned int ctrlPose

yarp::sig::Vector x_set

yarp::sig::Vector x

yarp::sig::Vector e

yarp::sig::Vector q

yarp::sig::Matrix J

yarp::sig::Matrix Jt

yarp::sig::Matrix pinvJ

yarp::sig::Vector q_old

double inTargetTol

double watchDogTol

unsigned int dim

unsigned int iter

int state

bool watchDogOn

int watchDogCnt

int watchDogMaxIter

## Detailed Description

A class derived from iKinCtrl implementing the multi-referential approach (pdf).

Note
Minimum-Jerk controllers in Task Space and Joint Space

Definition at line 759 of file iKinInv.h.

## ◆ MultiRefMinJerkCtrl()

 MultiRefMinJerkCtrl::MultiRefMinJerkCtrl ( iKinChain & c, unsigned int _ctrlPose, double _Ts, bool nonIdealPlant = false )

Constructor.

Parameters
 c is the Chain object on which the control operates. Do not change Chain DOF from this point onwards!! _ctrlPose one of the following: IKINCTRL_POSE_FULL => complete pose control. IKINCTRL_POSE_XYZ => translational part of pose controlled. IKINCTRL_POSE_ANG => rotational part of pose controlled. _Ts is the nominal controller sample time. nonIdealPlant if true allocate a dedicated min-jerk controller for the configuration space capable of compansating plants that differ from pure integrators.

Definition at line 725 of file iKinInv.cpp.

## ◆ ~MultiRefMinJerkCtrl()

 MultiRefMinJerkCtrl::~MultiRefMinJerkCtrl ( )
virtual

Destructor.

Definition at line 984 of file iKinInv.cpp.

## Member Function Documentation

 void MultiRefMinJerkCtrl::add_compensation ( const yarp::sig::Vector & comp )

Adds to the controller input a further compensation term.

Parameters
 comp the compensation term.
Note
The compensation term holds for one iteration step, then it is automatically set to zero for safety reasons.

Definition at line 956 of file iKinInv.cpp.

## ◆ computeGuard()

 void MultiRefMinJerkCtrl::computeGuard ( )
protectedvirtual

Definition at line 779 of file iKinInv.cpp.

## ◆ computeWeight()

 void MultiRefMinJerkCtrl::computeWeight ( )
protectedvirtual

Definition at line 797 of file iKinInv.cpp.

inlineprotectedvirtual

Method called whenever the watchDog is triggered.

Put here the code to recover from deadLock. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 797 of file iKinInv.h.

## ◆ get_execTime()

 double iCub::iKin::MultiRefMinJerkCtrl::get_execTime ( ) const
inline

Returns the task execution time in seconds (1.0 by default).

Returns

Definition at line 907 of file iKinInv.h.

## ◆ get_gamma()

 double iCub::iKin::MultiRefMinJerkCtrl::get_gamma ( ) const
inline

Returns the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

Returns
gamma.

Definition at line 901 of file iKinInv.h.

## ◆ get_guardRatio()

 double iCub::iKin::MultiRefMinJerkCtrl::get_guardRatio ( ) const
inline

Returns the guard ratio for the joints span (0.1 by default).

Note
The weights W_theta^-1 are non-zero only within the range [ q_min+0.5*guardRatio*D, q_max-0.5*guardRatio*D ] for each join, where D=q_max-q_min.
Returns
guard ratio.

Definition at line 893 of file iKinInv.h.

## ◆ get_qdot()

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::get_qdot ( ) const
inline

Returns the actual derivative of joint angles.

Returns
the actual derivative of joint angles.

Definition at line 913 of file iKinInv.h.

## ◆ get_xdot()

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::get_xdot ( ) const
inline

Returns the actual derivative of End-Effector Pose (6 components; xdot=J*qdot).

Returns
the actual derivative of End-Effector Pose.

Definition at line 920 of file iKinInv.h.

## ◆ getAlgoName()

 virtual std::string iCub::iKin::MultiRefMinJerkCtrl::getAlgoName ( )
inlinevirtual

Returns the algorithm's name.

Returns
algorithm name as string. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 884 of file iKinInv.h.

## ◆ inTargetFcn()

 virtual void iCub::iKin::MultiRefMinJerkCtrl::inTargetFcn ( )
inlineprotectedvirtual

Method called whenever in target.

Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 796 of file iKinInv.h.

## ◆ iterate() [1/4]

 virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate ( yarp::sig::Vector & xd, const unsigned int verbose )
inlineprotectedvirtual

Executes one iteration of the control algorithm.

Parameters
 xd is the End-Effector target Pose to be tracked. verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Returns
current estimation of joints configuration. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 802 of file iKinInv.h.

## ◆ iterate() [2/4]

 virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate ( yarp::sig::Vector & xd, yarp::sig::Vector & qd, const unsigned int verbose = 0 )
virtual

Executes one iteration of the control algorithm.

Parameters
 xd is the End-Effector target Pose to be tracked. qd is the target joint angles (it shall satisfy the forward kinematic function xd=f(qd)). verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Returns
current estimation of joints configuration.
Note
The reason why qd is provided externally instead of computed here is to discouple the inverse kinematic problem (which may require some computational effort depending on the current pose xd) from the reaching issue.

## ◆ iterate() [3/4]

 virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate ( yarp::sig::Vector & xd, yarp::sig::Vector & qd, yarp::sig::Vector & xdot_set, const unsigned int verbose = 0 )
virtual

Executes one iteration of the control algorithm.

Parameters
 xd is the End-Effector target Pose to be tracked. qd is the target joint angles (it shall satisfy the forward kinematic function xd=f(qd)). xdot_set is the Task Space reference velocity; the vector size is 7 (due to the axis-angle notation) and units are [rad/s]. verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Returns
current estimation of joints configuration.
Note
The reason why qd is provided externally instead of computed here is to discouple the inverse kinematic problem (which may require some computational effort depending on the current pose xd) from the reaching issue.

## ◆ iterate() [4/4]

 virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::iterate ( yarp::sig::Vector & xd, yarp::sig::Vector & qd, yarp::sig::Vector * xdot_set, const unsigned int verbose )
protectedvirtual

## ◆ printIter()

 void MultiRefMinJerkCtrl::printIter ( const unsigned int verbose )
protectedvirtual

Dumps warning or status messages.

Parameters
 verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two).
Note
Angles are dumperd as degrees. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 898 of file iKinInv.cpp.

## ◆ restart()

 void MultiRefMinJerkCtrl::restart ( const yarp::sig::Vector & q0 )
virtual

Reinitializes the algorithm's internal state and resets the starting point.

Parameters
 q0 is the new starting point.

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 885 of file iKinInv.cpp.

## ◆ set_execTime()

 double MultiRefMinJerkCtrl::set_execTime ( const double _execTime, const bool warn = false )

Sets the task execution time in seconds.

Parameters
 _execTime. warn enable/disable warning message for thresholding (disabled by default).
Returns
the actual execTime.
Note
A lower bound equal to 10*Ts (Ts=controller's sample time) is imposed.

Definition at line 942 of file iKinInv.cpp.

## ◆ set_gamma()

 void iCub::iKin::MultiRefMinJerkCtrl::set_gamma ( double _gamma )
inline

Sets the parameter gamma which is used to blend the contribute of the task controller versus the contribute of the joint controller.

Parameters
 _gamma.

Definition at line 934 of file iKinInv.h.

## ◆ set_guardRatio()

 void MultiRefMinJerkCtrl::set_guardRatio ( double _guardRatio )

Sets the guard ratio (in [0 1]).

Parameters
 _guardRatio.

Definition at line 770 of file iKinInv.cpp.

## ◆ set_q()

 void MultiRefMinJerkCtrl::set_q ( const yarp::sig::Vector & q0 )
virtual

Sets the joint angles values.

Parameters
 q0 is the joint angles vector.

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 934 of file iKinInv.cpp.

## ◆ setPlantParameters()

 void MultiRefMinJerkCtrl::setPlantParameters ( const yarp::os::Property & parameters, const std::string & entryTag = "dimension" )

Allows user to assign values to the parameters of plant under control (for the configuration space only).

In case the controlled plant is not a pure integrator, then it can be modelled as the following transfer function: (Kp/s)*((1+Tz*s)/(1+2*Zeta*Tw*s+(Tw*s)^2))

Parameters
 parameters contains the set of plant parameters for each dimension in form of a Property object.

Available parameters are:

dimension_# < list>: example (dimension_2 ((Kp 1.0) (Tw 0.1) ...)), specifies the Kp, Tz, Tw and Zeta parameters for a given dimension of the plant ("dimension_2" in the example). Dimensions are 0-based numbers.

Parameters
 entryTag specifies an entry tag different from "dimension".

Definition at line 965 of file iKinInv.cpp.

## ◆ solve()

 virtual yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::solve ( yarp::sig::Vector & xd, const double tol_size, const int max_iter, const unsigned int verbose, int * exit_code, bool * exhalt )
inlineprotectedvirtual

Iterates the control algorithm trying to converge on the target.

Parameters
 xd is the End-Effector target Pose to be tracked. tol_size exits if test_convergence(tol_size) is true (tol_size<0 disables this check, default). max_iter exits if iter>=max_iter (max_iter<0 disables this check, default). verbose is a integer whose 32 bits are intended as follows. The lowest word (16 bits) progressively enables different levels of warning messages or status dump: the larger this value the more detailed is the output (0x####0000=>off by default). The highest word indicates how many successive calls to the dump shall be skipped in order to reduce the amount of information on the screen (ex: 0x0000####=>print all iterations, 0x0001####=>print one iteration and skip the next one, 0x0002####=> print one iteration and skip the next two). exit_code stores the exit code (NULL by default). Test for one of this: IKINCTRL_RET_TOLX IKINCTRL_RET_TOLSIZE IKINCTRL_RET_TOLQ IKINCTRL_RET_MAXITER IKINCTRL_RET_EXHALT exhalt checks for an external request to exit (NULL by default).
setInTargetTol
getInTargetTol

Reimplemented from iCub::iKin::iKinCtrl.

Definition at line 803 of file iKinInv.h.

## ◆ test_convergence()

 virtual bool iCub::iKin::MultiRefMinJerkCtrl::test_convergence ( const double tol_size )
inlineprotectedvirtual

Tests convergence by comparing the size of the algorithm internal structure (may be the gradient norm or the simplex size or whatever) to a certain tolerance.

Parameters
 tol_size is tolerance to compare to. Shall be implemented.

Implements iCub::iKin::iKinCtrl.

Definition at line 801 of file iKinInv.h.

## ◆ compensation

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::compensation
protected

Definition at line 789 of file iKinInv.h.

## ◆ execTime

 double iCub::iKin::MultiRefMinJerkCtrl::execTime
protected

Definition at line 781 of file iKinInv.h.

## ◆ Eye6

 yarp::sig::Matrix iCub::iKin::MultiRefMinJerkCtrl::Eye6
protected

Definition at line 778 of file iKinInv.h.

## ◆ gamma

 double iCub::iKin::MultiRefMinJerkCtrl::gamma
protected

Definition at line 782 of file iKinInv.h.

## ◆ guardRatio

 double iCub::iKin::MultiRefMinJerkCtrl::guardRatio
protected

Definition at line 783 of file iKinInv.h.

## ◆ I

 ctrl::Integrator* iCub::iKin::MultiRefMinJerkCtrl::I
protected

Definition at line 772 of file iKinInv.h.

## ◆ mjCtrlJoint

 ctrl::minJerkVelCtrl* iCub::iKin::MultiRefMinJerkCtrl::mjCtrlJoint
protected

Definition at line 770 of file iKinInv.h.

protected

Definition at line 771 of file iKinInv.h.

## ◆ q_set

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::q_set
protected

Definition at line 774 of file iKinInv.h.

## ◆ qdot

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qdot
protected

Definition at line 775 of file iKinInv.h.

## ◆ qGuard

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuard
protected

Definition at line 785 of file iKinInv.h.

## ◆ qGuardMaxCOG

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxCOG
protected

Definition at line 787 of file iKinInv.h.

## ◆ qGuardMaxExt

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxExt
protected

Definition at line 787 of file iKinInv.h.

## ◆ qGuardMaxInt

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMaxInt
protected

Definition at line 787 of file iKinInv.h.

## ◆ qGuardMinCOG

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinCOG
protected

Definition at line 786 of file iKinInv.h.

## ◆ qGuardMinExt

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinExt
protected

Definition at line 786 of file iKinInv.h.

## ◆ qGuardMinInt

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::qGuardMinInt
protected

Definition at line 786 of file iKinInv.h.

## ◆ Ts

 double iCub::iKin::MultiRefMinJerkCtrl::Ts
protected

Definition at line 780 of file iKinInv.h.

## ◆ W

 yarp::sig::Matrix iCub::iKin::MultiRefMinJerkCtrl::W
protected

Definition at line 777 of file iKinInv.h.

## ◆ xdot

 yarp::sig::Vector iCub::iKin::MultiRefMinJerkCtrl::xdot
protected

Definition at line 776 of file iKinInv.h.

The documentation for this class was generated from the following files:
• icub-main/src/libraries/iKin/include/iCub/iKin/iKinInv.h
• icub-main/src/libraries/iKin/src/iKinInv.cpp