orocos_kdl
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First-order momentum observer for the estimation of external wrenches applied on the robot's end-effector. More...
#include <chainexternalwrenchestimator.hpp>
Public Member Functions | |
ChainExternalWrenchEstimator (const Chain &chain, const Vector &gravity, const double sample_frequency, const double estimation_gain, const double filter_constant, const double eps=0.00001, const int maxiter=150) | |
Internally-used Dynamics Parameters (Gravity) solver failed. More... | |
void | getEstimatedJntTorque (JntArray &external_joint_torque) |
int | JntToExtWrench (const JntArray &joint_position, const JntArray &joint_velocity, const JntArray &joint_torque, Wrench &external_wrench) |
int | setInitialMomentum (const JntArray &joint_position, const JntArray &joint_velocity) |
void | setSVDEps (const double eps_in) |
void | setSVDMaxIter (const int maxiter_in) |
virtual const char * | strError (const int error) const |
virtual void | updateInternalDataStructures () |
~ChainExternalWrenchEstimator () | |
Public Member Functions inherited from KDL::SolverI | |
virtual int | getError () const |
Return the latest error. More... | |
SolverI () | |
Initialize latest error to E_NOERROR. More... | |
virtual | ~SolverI () |
Static Public Attributes | |
static const int | E_DYNPARAMSOLVERCORIOLIS_FAILED = -103 |
Internally-used Dynamics Parameters (Mass) solver failed. More... | |
static const int | E_DYNPARAMSOLVERGRAVITY_FAILED = -104 |
Internally-used Dynamics Parameters (Coriolis) solver failed. More... | |
static const int | E_DYNPARAMSOLVERMASS_FAILED = -102 |
Internally-used Jacobian solver failed. More... | |
static const int | E_FKSOLVERPOS_FAILED = -100 |
static const int | E_JACSOLVER_FAILED = -101 |
Internally-used Forward Position Kinematics (Recursive) solver failed. More... | |
Private Types | |
typedef Eigen::Matrix< double, 6, 1 > | Vector6d |
Private Attributes | |
const Chain & | CHAIN |
JntArray | coriolis_torque |
const double | DT_SEC |
ChainDynParam | dynparam_solver |
JntArray | estimated_ext_torque |
JntArray | estimated_momentum_integral |
Eigen::VectorXd | ESTIMATION_GAIN |
const double | FILTER_CONST |
JntArray | filtered_estimated_ext_torque |
ChainFkSolverPos_recursive | fk_pos_solver |
JntArray | gravity_torque |
JntArray | initial_jnt_momentum |
Jacobian | jacobian_end_eff |
Eigen::MatrixXd | jacobian_end_eff_transpose |
Eigen::MatrixXd | jacobian_end_eff_transpose_inv |
ChainJntToJacSolver | jacobian_solver |
JntSpaceInertiaMatrix | jnt_mass_matrix |
JntSpaceInertiaMatrix | jnt_mass_matrix_dot |
unsigned int | nj |
unsigned int | ns |
JntSpaceInertiaMatrix | previous_jnt_mass_matrix |
Eigen::VectorXd | S |
Eigen::VectorXd | S_inv |
double | svd_eps |
int | svd_maxiter |
Eigen::VectorXd | tmp |
JntArray | total_torque |
Eigen::MatrixXd | U |
Eigen::MatrixXd | V |
Additional Inherited Members | |
Public Types inherited from KDL::SolverI | |
enum | { E_DEGRADED = +1, E_NOERROR = 0, E_NO_CONVERGE = -1, E_UNDEFINED = -2, E_NOT_UP_TO_DATE = -3, E_SIZE_MISMATCH = -4, E_MAX_ITERATIONS_EXCEEDED = -5, E_OUT_OF_RANGE = -6, E_NOT_IMPLEMENTED = -7, E_SVD_FAILED = -8 } |
Protected Attributes inherited from KDL::SolverI | |
int | error |
Latest error, initialized to E_NOERROR in constructor. More... | |
First-order momentum observer for the estimation of external wrenches applied on the robot's end-effector.
Implementation based on: S. Haddadin, A. De Luca and A. Albu-Schäffer, "Robot Collisions: A Survey on Detection, Isolation, and Identification," in IEEE Transactions on Robotics, vol. 33(6), pp. 1292-1312, 2017.
Note: This component assumes that the external wrench is applied on the end-effector (last) link of the robot's chain.
Definition at line 43 of file chainexternalwrenchestimator.hpp.
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Definition at line 45 of file chainexternalwrenchestimator.hpp.
KDL::ChainExternalWrenchEstimator::ChainExternalWrenchEstimator | ( | const Chain & | chain, |
const Vector & | gravity, | ||
const double | sample_frequency, | ||
const double | estimation_gain, | ||
const double | filter_constant, | ||
const double | eps = 0.00001 , |
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const int | maxiter = 150 |
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) |
Internally-used Dynamics Parameters (Gravity) solver failed.
Constructor for the estimator, it will allocate all the necessary memory
chain | The kinematic chain of the robot, an internal copy will be made. |
gravity | The gravity-acceleration vector to use during the calculation. |
sample_frequency | Frequency at which users updates it estimation loop (in Hz). |
estimation_gain | Parameter used to control the estimator's convergence |
filter_constant | Parameter defining how much the estimated signal should be filtered by the low-pass filter. This input value should be between 0 and 1. Higher the number means more noise needs to be filtered-out. The filter can be turned off by setting this value to 0. |
eps | If a SVD-singular value is below this value, its inverse is set to zero. Default: 0.00001 |
maxiter | Maximum iterations for the SVD computations. Default: 150. |
Definition at line 25 of file chainexternalwrenchestimator.cpp.
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Definition at line 68 of file chainexternalwrenchestimator.hpp.
void KDL::ChainExternalWrenchEstimator::getEstimatedJntTorque | ( | JntArray & | external_joint_torque | ) |
Definition at line 198 of file chainexternalwrenchestimator.cpp.
int KDL::ChainExternalWrenchEstimator::JntToExtWrench | ( | const JntArray & | joint_position, |
const JntArray & | joint_velocity, | ||
const JntArray & | joint_torque, | ||
Wrench & | external_wrench | ||
) |
This method calculates the external wrench that is applied on the robot's end-effector. Input parameters:
joint_position | The current (measured) joint positions. |
joint_velocity | The current (measured) joint velocities. |
joint_torque | The joint space torques. Depending on the user's choice, this array can represent commanded or measured joint torques. A particular choice depends on the available sensors in robot's joint. For more details see the above-referenced article. |
Output parameters:
external_wrench | The estimated external wrench applied on the robot's end-effector. The wrench will be expressed w.r.t. end-effector's frame. |
First-order momentum observer, an implementation based on: S. Haddadin, A. De Luca and A. Albu-Schäffer, "Robot Collisions: A Survey on Detection, Isolation, and Identification,"
Definition at line 106 of file chainexternalwrenchestimator.cpp.
int KDL::ChainExternalWrenchEstimator::setInitialMomentum | ( | const JntArray & | joint_position, |
const JntArray & | joint_velocity | ||
) |
Calculates robot's initial momentum in the joint space. Basically, sets the offset for future estimation (momentum calculation). If this method is not called by the user, zero values will be taken for the initial momentum.
Definition at line 74 of file chainexternalwrenchestimator.cpp.
void KDL::ChainExternalWrenchEstimator::setSVDEps | ( | const double | eps_in | ) |
Definition at line 94 of file chainexternalwrenchestimator.cpp.
void KDL::ChainExternalWrenchEstimator::setSVDMaxIter | ( | const int | maxiter_in | ) |
Definition at line 100 of file chainexternalwrenchestimator.cpp.
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Return a description of the latest error
Reimplemented from KDL::SolverI.
Definition at line 204 of file chainexternalwrenchestimator.cpp.
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Update the internal data structures. This is required if the number of segments or number of joints of a chain/tree have changed. This provides a single point of contact for solver memory allocations.
Implements KDL::SolverI.
Definition at line 45 of file chainexternalwrenchestimator.cpp.
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Definition at line 111 of file chainexternalwrenchestimator.hpp.
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Definition at line 118 of file chainexternalwrenchestimator.hpp.
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Definition at line 112 of file chainexternalwrenchestimator.hpp.
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Definition at line 122 of file chainexternalwrenchestimator.hpp.
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Internally-used Dynamics Parameters (Mass) solver failed.
Definition at line 52 of file chainexternalwrenchestimator.hpp.
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Internally-used Dynamics Parameters (Coriolis) solver failed.
Definition at line 53 of file chainexternalwrenchestimator.hpp.
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Internally-used Jacobian solver failed.
Definition at line 51 of file chainexternalwrenchestimator.hpp.
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Definition at line 49 of file chainexternalwrenchestimator.hpp.
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Internally-used Forward Position Kinematics (Recursive) solver failed.
Definition at line 50 of file chainexternalwrenchestimator.hpp.
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Definition at line 118 of file chainexternalwrenchestimator.hpp.
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Definition at line 117 of file chainexternalwrenchestimator.hpp.
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Definition at line 121 of file chainexternalwrenchestimator.hpp.
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Definition at line 112 of file chainexternalwrenchestimator.hpp.
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Definition at line 117 of file chainexternalwrenchestimator.hpp.
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Definition at line 124 of file chainexternalwrenchestimator.hpp.
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Definition at line 118 of file chainexternalwrenchestimator.hpp.
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Definition at line 117 of file chainexternalwrenchestimator.hpp.
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Definition at line 119 of file chainexternalwrenchestimator.hpp.
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Definition at line 120 of file chainexternalwrenchestimator.hpp.
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Definition at line 120 of file chainexternalwrenchestimator.hpp.
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Definition at line 123 of file chainexternalwrenchestimator.hpp.
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Definition at line 116 of file chainexternalwrenchestimator.hpp.
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Definition at line 116 of file chainexternalwrenchestimator.hpp.
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Definition at line 115 of file chainexternalwrenchestimator.hpp.
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Definition at line 115 of file chainexternalwrenchestimator.hpp.
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Definition at line 116 of file chainexternalwrenchestimator.hpp.
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Definition at line 121 of file chainexternalwrenchestimator.hpp.
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Definition at line 121 of file chainexternalwrenchestimator.hpp.
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Definition at line 113 of file chainexternalwrenchestimator.hpp.
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Definition at line 114 of file chainexternalwrenchestimator.hpp.
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Definition at line 121 of file chainexternalwrenchestimator.hpp.
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Definition at line 118 of file chainexternalwrenchestimator.hpp.
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Definition at line 120 of file chainexternalwrenchestimator.hpp.
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Definition at line 120 of file chainexternalwrenchestimator.hpp.