scene_wk.h File Reference

Workspace control for scene graphs. More...

Go to the source code of this file.

Functions
AA_API struct aa_rx_wk_opts *	aa_rx_wk_opts_create (void)
	Create workspce control options.
AA_API void	aa_rx_wk_opts_destroy (struct aa_rx_wk_opts *)
	Destroy workspce control options.
AA_API void	aa_rx_wk_dx_pos (const struct aa_rx_wk_opts *opts, const double *E_act, const double *E_ref, struct aa_dvec *dx)
	Proportional control on pose error. More...
AA_API int	aa_rx_wk_dx2dq (const struct aa_rx_sg_sub *ssg, const struct aa_rx_wk_opts *opts, const struct aa_rx_fk *fk, const struct aa_dvec *dx, struct aa_dvec *dq)
	Convert workspace (Cartesian) velocity to joint velocity. More...
AA_API int	aa_rx_wk_dx2dq_np (const struct aa_rx_sg_sub *ssg, const struct aa_rx_wk_opts *opts, const struct aa_rx_fk *fk, const struct aa_dvec *dx, const struct aa_dvec *dq_r, struct aa_dvec *dq)
	Convert workspace (Cartesian) velocity to joint velocity, with nullspace projection. More...
AA_API struct aa_rx_wk_lc3_cx *	aa_rx_wk_lc3_create (const struct aa_rx_sg_sub *ssg, const struct aa_rx_wk_opts *opts)
AA_API int	aa_rx_wk_dx2dq_lc3 (const struct aa_rx_wk_lc3_cx *lc3, double dt, const struct aa_rx_fk *fk, const struct aa_dvec *dx_r, const struct aa_dvec *q_a, const struct aa_dvec *dq_a, const struct aa_dvec *dq_r, struct aa_dvec *dq)
AA_API void	aa_rx_wk_dqcenter (const struct aa_rx_sg_sub *ssg, const struct aa_rx_wk_opts *opts, const struct aa_dvec *q, struct aa_dvec *dq_r)
	Find joint-centering reference velocity. More...

Detailed Description

Workspace control for scene graphs.

Definition in file scene_wk.h.

Function Documentation

aa_rx_wk_dqcenter()

AA_API void aa_rx_wk_dqcenter	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_wk_opts *	opts,
		const struct aa_dvec *	q,
		struct aa_dvec *	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_wk_dx2dq()

AA_API int aa_rx_wk_dx2dq	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_wk_opts *	opts,
		const struct aa_rx_fk *	fk,
		const struct aa_dvec *	dx,
		struct aa_dvec *	dq
	)

Convert workspace (Cartesian) velocity to joint velocity.

Parameters

[in]	ssg	the subscenegraph to control
[in]	opts	workspace control options
[in]	fk	updated forward kinematics
[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_wk_dx2dq_np()

AA_API int aa_rx_wk_dx2dq_np	(	const struct aa_rx_sg_sub *	ssg,
		const struct aa_rx_wk_opts *	opts,
		const struct aa_rx_fk *	fk,
		const struct aa_dvec *	dx,
		const struct aa_dvec *	dq_r,
		struct aa_dvec *	dq
	)

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

See also

aa_rx_wk_dqcenter()

Parameters

[in]	ssg	the subscenegraph to control
[in]	opts	workspace control options
[in]	fk	updated forward kinematics
[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_wk_dx_pos()

AA_API void aa_rx_wk_dx_pos	(	const struct aa_rx_wk_opts *	opts,
		const double *	E_act,
		const double *	E_ref,
		struct aa_dvec *	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 (size 6)