Executes end-effector SE3 command. More...

#include <aikido/control/JacobianExecutor.hpp>

Inheritance diagram for aikido::control::JacobianExecutor< T >:

Public Member Functions
	JacobianExecutor (::dart::dynamics::BodyNode *eeNode, std::shared_ptr< JointCommandExecutor< T >> executor=nullptr, double lambda=DEFAULT_LAMBDA)
	Constructor. More...

virtual	~JacobianExecutor ()

virtual std::future< int >	execute (const Eigen::Vector6d command, const std::chrono::duration< double > &timeout=std::chrono::duration< double >(1))
	Execute an SE3 Command, setting future upon completion. More...

virtual std::future< int >	execute (const Eigen::Vector6d command, const std::chrono::duration< double > &timeout, const std::chrono::system_clock::time_point &timepoint)

virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout=std::chrono::duration< double >(1))
	Execute a Joint Command, setting future upon completion. More...

virtual std::future< int >	execute (const std::vector< double > &command, const std::chrono::duration< double > &timeout, const std::chrono::system_clock::time_point &timepoint)
	Execute a Joint Command, setting future upon completion. More...

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::JointCommandExecutor< T >
	JointCommandExecutor (const std::vector< dart::dynamics::DegreeOfFreedom * > dofs, const std::set< ExecutorType > otherTypes=std::set< ExecutorType >(), const std::chrono::milliseconds threadRate=defaultThreadRate)
	Constructor. More...

virtual	~JointCommandExecutor ()

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...

Static Public Attributes
static constexpr size_t	SE3_SIZE = 6

static constexpr double	DEFAULT_LAMBDA = 1E-8

Private Member Functions
std::vector< double >	SE3ToJoint (const Eigen::Vector6d command)
	Convert SE3 command to joint command. More...

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

std::shared_ptr< JointCommandExecutor< T > >	mExecutor
	Underlying Joint Command Executor. More...

Eigen::Vector6d	mCommand
	Command being executed (6d) More...

double	mLambda
	Jacobian damping factor. More...

bool	mInProgress
	Whether a command is being executed. More...

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

std::mutex	mMutex
	Manages access to mCommand, mInProgress, mPromise. More...

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

std::chrono::duration< double >	mTimeout
	Velocity timeout. More...

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

template<ExecutorType T>
class aikido::control::JacobianExecutor< T >

Executes end-effector SE3 command.

Uses local Jacobian to translate to joint command.

Constructor & Destructor Documentation

◆ JacobianExecutor()

template<ExecutorType T>

aikido::control::JacobianExecutor< T >::JacobianExecutor	(	::dart::dynamics::BodyNode *	eeNode,
		std::shared_ptr< JointCommandExecutor< T >>	executor = `nullptr`,
		double	lambda = `DEFAULT_LAMBDA`
	)

explicit

Constructor.

Parameters

eeNode	End effector body node.
lambda	Damped Jacobian pseudo-inverse calculation: (JtJ + lambda^2 I)^{-1}
executor	Base joint executor for converted joint commands. Default: KinematicSimulationJointCommandExecutor

◆ ~JacobianExecutor()

template<ExecutorType T>

aikido::control::JacobianExecutor< T >::~JacobianExecutor

virtual

Member Function Documentation

◆ cancel()

template<ExecutorType T>

void aikido::control::JacobianExecutor< T >::cancel

virtual

Cancels the current command.

Implements aikido::control::JointCommandExecutor< T >.

◆ execute() [1/4]

template<ExecutorType T>

std::future< int > aikido::control::JacobianExecutor< T >::execute	(	const Eigen::Vector6d	command,
		const std::chrono::duration< double > &	timeout,
		const std::chrono::system_clock::time_point &	timepoint
	)

virtual

◆ execute() [2/4]

template<ExecutorType T>

virtual std::future<int> aikido::control::JacobianExecutor< T >::execute	(	const Eigen::Vector6d	command,
		const std::chrono::duration< double > &	timeout = `std::chrono::duration<double>(1)`
	)

inlinevirtual

Execute an SE3 Command, setting future upon completion.

Note: Future should return 0 on success or timeout.

Parameters

command	SE3 Command Vector (6d)
timeout	How long until command expires

◆ execute() [3/4]

template<ExecutorType T>

std::future< int > aikido::control::JacobianExecutor< T >::execute	(	const std::vector< double > &	command,
		const std::chrono::duration< double > &	timeout,
		const std::chrono::system_clock::time_point &	timepoint
	)

virtual

Execute a Joint Command, setting future upon completion.

Note: Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires
timepoint	If supplied, time to simulate to

Implements aikido::control::JointCommandExecutor< T >.

◆ execute() [4/4]

template<ExecutorType T>

virtual std::future<int> aikido::control::JacobianExecutor< T >::execute	(	const std::vector< double > &	command,
		const std::chrono::duration< double > &	timeout = `std::chrono::duration<double>(1)`
	)

inlinevirtual

Execute a Joint Command, setting future upon completion.

Note: Future should return 0 on success or timeout.

Parameters

command	Vector of joint commands, parallel with joints vector
timeout	How long until command expires
timepoint	If supplied, time to simulate to

Cancels all SE3 Commands Calls the underlying JointCommandExecutor.

Reimplemented from aikido::control::JointCommandExecutor< T >.

◆ SE3ToJoint()

template<ExecutorType T>

std::vector< double > aikido::control::JacobianExecutor< T >::SE3ToJoint ( const Eigen::Vector6d command )

private

Convert SE3 command to joint command.

◆ step()

template<ExecutorType T>

void aikido::control::JacobianExecutor< T >::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.

Implements aikido::control::JointCommandExecutor< T >.

Member Data Documentation

◆ DEFAULT_LAMBDA

template<ExecutorType T>

constexpr double aikido::control::JacobianExecutor< T >::DEFAULT_LAMBDA = 1E-8

staticconstexpr

◆ mCommand

template<ExecutorType T>

Eigen::Vector6d aikido::control::JacobianExecutor< T >::mCommand

private

Command being executed (6d)

◆ mEENode

template<ExecutorType T>

::dart::dynamics::BodyNode* aikido::control::JacobianExecutor< T >::mEENode

private

End Effector Body Node Name.

◆ mExecutionStartTime

template<ExecutorType T>

std::chrono::system_clock::time_point aikido::control::JacobianExecutor< T >::mExecutionStartTime

private

Time of command start.

◆ mExecutor

template<ExecutorType T>

std::shared_ptr<JointCommandExecutor<T> > aikido::control::JacobianExecutor< T >::mExecutor

private

Underlying Joint Command Executor.

◆ mFuture

template<ExecutorType T>

std::future<int> aikido::control::JacobianExecutor< T >::mFuture

private

Future for underlying executor call.

◆ mInProgress

template<ExecutorType T>

bool aikido::control::JacobianExecutor< T >::mInProgress

private

Whether a command is being executed.

◆ mLambda

template<ExecutorType T>

double aikido::control::JacobianExecutor< T >::mLambda

private

Jacobian damping factor.

◆ mMutex

template<ExecutorType T>

std::mutex aikido::control::JacobianExecutor< T >::mMutex

mutableprivate

Manages access to mCommand, mInProgress, mPromise.

◆ mPromise

template<ExecutorType T>

std::unique_ptr<std::promise<int> > aikido::control::JacobianExecutor< T >::mPromise

private

Promise whose future is returned by execute()

◆ mTimeout

template<ExecutorType T>

std::chrono::duration<double> aikido::control::JacobianExecutor< T >::mTimeout

private

Velocity timeout.

◆ SE3_SIZE

template<ExecutorType T>

constexpr size_t aikido::control::JacobianExecutor< T >::SE3_SIZE = 6

staticconstexpr

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<ExecutorType T> class aikido::control::JacobianExecutor< T >

Constructor & Destructor Documentation

◆ JacobianExecutor()

◆ ~JacobianExecutor()

Member Function Documentation

◆ cancel()

◆ execute() [1/4]

◆ execute() [2/4]

◆ execute() [3/4]

◆ execute() [4/4]

◆ SE3ToJoint()

◆ step()

Member Data Documentation

◆ DEFAULT_LAMBDA

◆ mCommand

◆ mEENode

◆ mExecutionStartTime

◆ mExecutor

◆ mFuture

◆ mInProgress

◆ mLambda

◆ mMutex

◆ mPromise

◆ mTimeout

◆ SE3_SIZE

template<ExecutorType T>
class aikido::control::JacobianExecutor< T >