Executes end-effector R3 linear velocity command towards a perceived target Uses underlying JacobianVelocityExecutor on its own thread. More...

#include <aikido/control/VisualServoingVelocityExecutor.hpp>

Inheritance diagram for aikido::control::VisualServoingVelocityExecutor:

Classes
struct	Properties
	Paramters for Vector Field Planner. More...

Public Member Functions
	VisualServoingVelocityExecutor (::dart::dynamics::BodyNode *eeNode, std::shared_ptr< JacobianVelocityExecutor > executor=nullptr, Properties properties=Properties())
	Constructor. More...

virtual	~VisualServoingVelocityExecutor ()

void	resetProperties (Properties properties=Properties())
	Cancel current command and update properties. More...

Properties	getProperties () const
	Get current properties. More...

virtual std::future< int >	execute (std::function< std::shared_ptr< Eigen::Isometry3d >(void)> perception)
	Execute a Visual Servoing Command, setting future upon completion. More...

virtual std::future< int >	execute (std::function< std::shared_ptr< Eigen::Isometry3d >(void)> perception, const std::chrono::system_clock::time_point &timepoint)

void	step (const std::chrono::system_clock::time_point &timepoint) override
	Step to a point in time. More...

void	cancel ()
	Cancels the current command. More...

Public Member Functions inherited from aikido::control::Executor
	Executor (const std::set< ExecutorType > &types, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

	Executor (const ExecutorType type, const std::vector< dart::dynamics::DegreeOfFreedom * > &dofs, std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

virtual	~Executor ()

std::set< ExecutorType >	getTypes () const
	Get all of this Executor's ExecutorTypes. More...

const std::vector< dart::dynamics::DegreeOfFreedom * >	getDofs () const
	Get list of dofs needed by this Executor. More...

void	start ()
	Start the underlying ExecutorThread. More...

void	stop ()
	Stops the underlying ExecutorThread. More...

bool	registerDofs ()
	Lock the resources required by the DoFs. More...

void	releaseDofs ()
	Unlock any resources required by the DoFs. More...

Private Attributes
::dart::dynamics::BodyNode *	mEENode
	End Effector Body Node Name. More...

std::shared_ptr< JacobianVelocityExecutor >	mExecutor
	Underlying JacobianVelocityExecutor. More...

std::function< std::shared_ptr< Eigen::Isometry3d >void)>	mPerception
	Perception Function (if empty, then executor not in progress) More...

std::unique_ptr< std::promise< int > >	mPromise
	Promise whose future is returned by execute() More...

std::mutex	mMutex
	Manages access to mPerception, mPromise. More...

Properties	mProperties
	Properties (see documentation above) More...

std::future< int >	mFuture
	Future for underlying executor call. More...

std::chrono::system_clock::time_point	mLastPerceivedTime
	Time of command start. More...

Additional Inherited Members
Protected Attributes inherited from aikido::control::Executor
std::set< ExecutorType >	mTypes
	Vector of executor types. More...

std::vector< dart::dynamics::DegreeOfFreedom * >	mDofs
	Vector of dof names. More...

Detailed Description

Executes end-effector R3 linear velocity command towards a perceived target Uses underlying JacobianVelocityExecutor on its own thread.

Constructor & Destructor Documentation

◆ VisualServoingVelocityExecutor()

aikido::control::VisualServoingVelocityExecutor::VisualServoingVelocityExecutor	(	::dart::dynamics::BodyNode *	eeNode,
		std::shared_ptr< JacobianVelocityExecutor >	executor = `nullptr`,
		Properties	properties = `Properties()`
	)

explicit

Constructor.

Parameters

eeNode	End effector body node (current position = getWorldTransform())
executor	Base jacobian velocity executor. Default: kinematic, constructed from BodyNode
properties	See ::Properties for more info.

◆ ~VisualServoingVelocityExecutor()

virtual aikido::control::VisualServoingVelocityExecutor::~VisualServoingVelocityExecutor ( )

virtual

Member Function Documentation

◆ cancel()

void aikido::control::VisualServoingVelocityExecutor::cancel ( )

virtual

Cancels the current command.

Reimplemented from aikido::control::Executor.

◆ execute() [1/2]

virtual std::future<int> aikido::control::VisualServoingVelocityExecutor::execute ( std::function< std::shared_ptr< Eigen::Isometry3d >(void)> perception )

inlinevirtual

Execute a Visual Servoing Command, setting future upon completion.

Note: Future should return 0 on success or timeout.

Parameters

perception goal position in DART World Frame

◆ execute() [2/2]

virtual std::future<int> aikido::control::VisualServoingVelocityExecutor::execute	(	std::function< std::shared_ptr< Eigen::Isometry3d >(void)>	perception,
		const std::chrono::system_clock::time_point &	timepoint
	)

virtual

◆ getProperties()

Properties aikido::control::VisualServoingVelocityExecutor::getProperties ( ) const

Get current properties.

◆ resetProperties()

void aikido::control::VisualServoingVelocityExecutor::resetProperties ( Properties properties = Properties() )

Cancel current command and update properties.

◆ step()

void aikido::control::VisualServoingVelocityExecutor::step ( const std::chrono::system_clock::time_point & timepoint )

overridevirtual

Step to a point in time.

Note: timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint Time to simulate to

If multiple threads are accessing this function or the skeleton associated with this executor, it is necessary to lock the skeleton before calling this method.

Reimplemented from aikido::control::Executor.

Member Data Documentation

◆ mEENode

::dart::dynamics::BodyNode* aikido::control::VisualServoingVelocityExecutor::mEENode

private

End Effector Body Node Name.

◆ mExecutor

std::shared_ptr<JacobianVelocityExecutor> aikido::control::VisualServoingVelocityExecutor::mExecutor

private

Underlying JacobianVelocityExecutor.

◆ mFuture

std::future<int> aikido::control::VisualServoingVelocityExecutor::mFuture

private

Future for underlying executor call.

◆ mLastPerceivedTime

std::chrono::system_clock::time_point aikido::control::VisualServoingVelocityExecutor::mLastPerceivedTime

private

Time of command start.

◆ mMutex

std::mutex aikido::control::VisualServoingVelocityExecutor::mMutex

mutableprivate

Manages access to mPerception, mPromise.

◆ mPerception

std::function<std::shared_ptr<Eigen::Isometry3d>void)> aikido::control::VisualServoingVelocityExecutor::mPerception

private

Perception Function (if empty, then executor not in progress)

◆ mPromise

std::unique_ptr<std::promise<int> > aikido::control::VisualServoingVelocityExecutor::mPromise

private

Promise whose future is returned by execute()

◆ mProperties

Properties aikido::control::VisualServoingVelocityExecutor::mProperties

private

Properties (see documentation above)

Classes

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ VisualServoingVelocityExecutor()

◆ ~VisualServoingVelocityExecutor()

Member Function Documentation

◆ cancel()

◆ execute() [1/2]

◆ execute() [2/2]

◆ getProperties()

◆ resetProperties()

◆ step()

Member Data Documentation

◆ mEENode

◆ mExecutor

◆ mFuture

◆ mLastPerceivedTime

◆ mMutex

◆ mPerception

◆ mPromise

◆ mProperties