javax.robotics.engine.controllers
Interface EndEffController

All Superinterfaces:

Controller

All Known Implementing Classes:

GravityCompensation, ResolvedRateAcceleration

public interface EndEffController
extends Controller

Interface for different schemes of robot end effector position and orientation controller.

Since:

1.0.0

Version:

7/10/2005

Author:

Carmine Lia

Method Summary

RVector3d	getOrientationError() Gets the current orientation error.
RVector3d	getPositionError() Gets the position error.
RVector	torqueCmd(RVector3d pdpp, RVector3d pdp, RVector3d pd) Sets the output torque for a desired end effector: acceleration, velocity, position.
RVector	torqueCmd(RVector3d pdpp, RVector3d pdp, RVector3d pd, RVector3d wdp, RVector3d wd, Quaternion quatd) Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

Methods inherited from interface javax.robotics.engine.controllers.Controller

getID, getRobotID

Method Detail

getPositionError

RVector3d getPositionError()

Gets the position error.

Returns:

the position error vector.

getOrientationError

RVector3d getOrientationError()

Gets the current orientation error. The error is computed form quaternion as:

η(q)&epsilon_d - &eta_d&epsilon(q) - S(&epsilon_d)&epsilon(q)

where η and ε are the vector and the scalar components of quaternion respectively.

Returns:

the orientation error vector.

torqueCmd

RVector torqueCmd(RVector3d pdpp,
                  RVector3d pdp,
                  RVector3d pd,
                  RVector3d wdp,
                  RVector3d wd,
                  Quaternion quatd)

Sets the output torque for a desired end effector: acceleration, velocity, position, angular acceleration, angular velocity, angular position.

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

wdp - desired angular acceleration

wd - desired angular velocity

quatd - desired vector angular position: quaternion (s,v1,v2,v3)

Returns:

the output torque

torqueCmd

RVector torqueCmd(RVector3d pdpp,
                  RVector3d pdp,
                  RVector3d pd)

Sets the output torque for a desired end effector: acceleration, velocity, position.

Parameters:

pdpp - desired acceleration

pdp - desired velocity

pd - desired position

Returns:

the output torque