rx_ct.h File Reference

Integration between scene graphs and control. More...

#include "amino/ct/state.h"
#include "amino/ct/traj.h"

Go to the source code of this file.

Functions
AA_API struct aa_ct_pt_list *	aa_rx_ct_pt_list (struct aa_mem_region *region, size_t n_q, size_t n_path, double *path)
	Return a point list for a path. More...
AA_API struct aa_ct_limit *	aa_rx_ct_limits (struct aa_mem_region *region, const struct aa_rx_sg *sg)
	Extract the limits from a scene graph. More...
AA_API int	aa_rx_ct_tjx_path (struct aa_mem_region *region, const struct aa_rx_ik_parm *opts, const struct aa_rx_sg_sub *ssg, struct aa_ct_seg_list *segs, size_t n_q_all, const double *q_start_all, size_t *n_points, double **path)
AA_API struct aa_ct_limit *	aa_rx_ct_sg_limits (struct aa_mem_region *region, const struct aa_rx_sg *sg)
AA_API struct aa_rx_ct_wk_opts *	aa_rx_ct_wk_opts_create (void)
	Create workspce control options.
AA_API void	aa_rx_ct_wk_opts_destroy (struct aa_rx_ct_wk_opts *)
	Destroy workspce control options.
AA_API void	aa_rx_ct_wk_dx_pos (const struct aa_rx_ct_wk_opts *opts, const double *E_act, const double *E_ref, double *dx)
	Proportional control on pose error. More...
AA_API int	aa_rx_ct_wk_dx2dq (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ct_wk_opts *opts, size_t n_tf, const double *TF_abs, size_t ld_tf, size_t n_x, const double *dx, size_t n_q, double *dq)
	Convert workspace (Cartesian) velocity to joint velocity. More...
AA_API int	aa_rx_ct_wk_dx2dq_np (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ct_wk_opts *opts, size_t n_tf, const double *TF_abs, size_t ld_tf, size_t n_x, const double *dx, size_t n_q, const double *dq_r, double *dq)
	Convert workspace (Cartesian) velocity to joint velocity, with nullspace projection. More...
AA_API struct aa_rx_ct_wk_lc3_cx *	aa_rx_ct_wk_lc3_create (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ct_wk_opts *opts)
AA_API int	aa_rx_ct_wk_dx2dq_lc3 (const struct aa_rx_ct_wk_lc3_cx *lc3, double dt, size_t n_tf, const double *TF_abs, size_t ld_tf, size_t n_x, const double *dx_r, size_t n_q, const double *q_a, const double *dq_a, const double *dq_r, double *dq)
AA_API void	aa_rx_ct_wk_dqcenter (const struct aa_rx_sg_sub *ssg, const struct aa_rx_ct_wk_opts *opts, size_t n_q, const double *q, double *dq_r)
	Find joint-centering reference velocity. More...

Detailed Description

Integration between scene graphs and control.

Definition in file rx_ct.h.

Function Documentation

aa_rx_ct_limits()

AA_API struct aa_ct_limit* aa_rx_ct_limits	(	struct aa_mem_region *	region,
		const struct aa_rx_sg *	sg
	)

Extract the limits from a scene graph.

Parameters

region	Memory region to allocate limits from
sg	The scene graph

aa_rx_ct_pt_list()

AA_API struct aa_ct_pt_list* aa_rx_ct_pt_list	(	struct aa_mem_region *	region,
		size_t	n_q,
		size_t	n_path,
		double *	path
	)

Return a point list for a path.

Parameters

region	Memory region to allocate point list from
n_q	Number of configuration variables
n_path	Number of waypoints in the path
path	Path data

aa_rx_ct_wk_dqcenter()

AA_API void aa_rx_ct_wk_dqcenter	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_ct_wk_opts *	opts,
		size_t	n_q,
		const double *	q,
		double *	dq_r
	)

Find joint-centering reference velocity.

Parameters

[in]	ssg	the subscenegraph to control
[in]	opts	workspace control options
[in]	n_q	size of q
[in]	q	actual joint positions for the subscenegraph
[out]	dq_r	centering velocities for the subscenegraph

aa_rx_ct_wk_dx2dq()

AA_API int aa_rx_ct_wk_dx2dq	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_ct_wk_opts *	opts,
		size_t	n_tf,
		const double *	TF_abs,
		size_t	ld_tf,
		size_t	n_x,
		const double *	dx,
		size_t	n_q,
		double *	dq
	)

Convert workspace (Cartesian) velocity to joint velocity.

Parameters

[in]	ssg	the subscenegraph to control
[in]	opts	workspace control options
[in]	n_tf	number of frames in TF_abs
[in]	TF_abs	absolute frames (quaternion-translations) for the entire scenegraph
[in]	ld_tf	Leading dimension of TF_abs
[in]	n_x	size of dx
[in]	dx	reference workspace velocity
[in]	n_q	size of dq
[out]	dq	reference joint velocity for subscenegraph

aa_rx_ct_wk_dx2dq_np()

AA_API int aa_rx_ct_wk_dx2dq_np	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_ct_wk_opts *	opts,
		size_t	n_tf,
		const double *	TF_abs,
		size_t	ld_tf,
		size_t	n_x,
		const double *	dx,
		size_t	n_q,
		const double *	dq_r,
		double *	dq
	)

Convert workspace (Cartesian) velocity to joint velocity, with nullspace projection.

See also

aa_rx_ct_wk_dqcenter()

Parameters

[in]	ssg	the subscenegraph to control
[in]	opts	workspace control options
[in]	n_tf	number of frames in TF_abs
[in]	TF_abs	absolute frames (quaternion-translations) for the entire scenegraph
[in]	ld_tf	Leading dimension of TF_abs
[in]	n_x	size of dx
[in]	dx	reference workspace velocity
[in]	n_q	size of dq
[in]	dq_r	reference joint velocity (nullspace projected) for subscenegraph
[out]	dq	computed reference joint velocity for subscenegraph

aa_rx_ct_wk_dx_pos()

AA_API void aa_rx_ct_wk_dx_pos	(	const struct aa_rx_ct_wk_opts *	opts,
		const double *	E_act,
		const double *	E_ref,
		double *	dx
	)

Proportional control on pose error.

The computed reference term is ADDED to dx.

Parameters

[in]	opts	Workspace control options
[in]	E_act	Actual pose (quaternion-translation)
[in]	E_ref	Reference pose (quaternion-translation)
[in,out]	dx	Reference workspace velocity