rci Namespace Reference
Classes | |
| class | Configurable |
| Interface, marking a Node as configurable. More... | |
| class | ControlAspect |
| Domain object indicating one aspect of control (e.g. More... | |
| class | Controlled |
| class | PositionControlled |
| Interface indicating Joint Position Control. More... | |
| class | VelocityControlled |
| Interface indicating Joint Velocity Control. More... | |
| class | TorqueControlled |
| Interface indicating Joint Torque Control. More... | |
| class | ImpedanceControlled |
| Interface indicating Joint Impedance Control. More... | |
| class | PressureControlled |
| class | LengthControlled |
| class | PoseControlled |
| Interface indicating Cartesian Pose Control. More... | |
| class | ControlledIF |
| class | PositionControlledIF |
| Interface indicating Joint Position Control. More... | |
| class | VelocityControlledIF |
| Interface indicating Joint Velocity Control. More... | |
| class | TorqueControlledIF |
| Interface indicating Joint Torque Control. More... | |
| class | ImpedanceControlledIF |
| Interface indicating Joint Impedance Control. More... | |
| class | PressureControlledIF |
| class | LengthControlledIF |
| class | PoseControlledIF |
| Interface indicating Cartesian Pose Control. More... | |
| class | ControlMode |
| Domain object indicating control mode of a controller / controlled device. More... | |
| class | TranslationalAcceleration |
| Domain object, representing a cartesian translatory velocity. More... | |
| class | TranslationalDamping |
| Domain object, representing a cartesian force and rotatory stiffness in all three dimensions. More... | |
| class | RotationalDamping |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | CartesianDamping |
| Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More... | |
| class | Forces |
| Domain object, representing a cartesian force and torques in all three dimensions. More... | |
| class | Torques |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | Wrench |
| Domain object, representing a full cartesian wrench, consisting of translational forces and torques. More... | |
| class | TranslationalImpedance |
| Domain object, representing a cartesian force and RotationalImpedance in all three dimensions. More... | |
| class | RotationalImpedance |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | CartesianImpedance |
| Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More... | |
| class | Translation |
| Domain object, representing a cartesian translation in all three dimensions. More... | |
| class | Orientation |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | Pose |
| Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More... | |
| class | TranslationalStiffness |
| Domain object, representing a cartesian force and rotatory stiffness in all three dimensions. More... | |
| class | RotationalStiffness |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | CartesianStiffness |
| Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More... | |
| class | CartesianTranslational |
| Domain object, representing a position or translational transformation in cartesian space. More... | |
| class | CartesianRotational |
| Domain object, representing an orientation or rotational transformation in cartesian space. More... | |
| class | CartesianValue |
| Domain object, representing a full cartesian pose, consisting of translational transformation and orientation. More... | |
| class | TranslationalVelocity |
| Domain object, representing a cartesian translatory velocity. More... | |
| class | RotationalVelocity |
| Domain object, representing an rotational velocity in cartesian space as quaternions (for reference see http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation ). More... | |
| class | JointAngles |
| Domain object, representing Joint Angles. More... | |
| class | JointStiffness |
Domain object, representing JointStiffness, default representation is in ![$[N*m/rad]$](form_10.png) . More... | |
| class | JointDamping |
| Domain object, representing JointDamping, default representation is in ???. More... | |
| class | JointImpedance |
| Domain object, representing JointImpedance, consisting of JointStiffness and JointDamping. More... | |
| class | JointTorques |
| Domain object, representing Joint Torques. More... | |
| class | JointValues |
| Domain object, representing Joint Values. More... | |
| class | JointVelocities |
| Domain object, representing Joint Velocities. More... | |
| class | Length |
| Domain object, representing length values. More... | |
| class | Phase |
| Domain object, representing Phase values. More... | |
| class | Power |
| Domain object, representing Power values. More... | |
| class | Pressure |
| Domain object, representing pressure values. More... | |
| class | RCIHelper |
| Helper methods for RCI. More... | |
| class | ResourceNode |
| class | Sensing |
| Base sensing interface. More... | |
| class | PositionSensing |
| By implementing this interface, a node is characterized as being able to sense joint angles (encoder value). More... | |
| class | VelocitySensing |
| By implementing this interface, a node is characterized as being able to sense joint velocities (encoder value or derived). More... | |
| class | PressureSensing |
| By implementing this interface, a node is characterized as being able to sense pressure (for example a vault). More... | |
| class | LengthSensing |
| By implementing this interface, a node is characterized as being able to sense a length value. More... | |
| class | ForceSensing |
| By implementing this interface, a node is characterized as being able to sense (cartesian) forces. More... | |
| class | TorqueSensing |
| By implementing this interface, a node is characterized as being able to sense joint torques. More... | |
| class | PowerSensing |
| By implementing this interface, a node is characterized as being able to sense (cartesian) forces. More... | |
| class | OrientationSensing |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationSensing |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | PoseSensing |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationalVelocitySensing |
| Velocity. More... | |
| class | RotationalVelocitySensing |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part. More... | |
| class | CartesianVelocitySensing |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationalAccelerationSensing |
| Acceleration. More... | |
| class | RotationalAccelerationSensing |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional acceleration of an object in cartesian space or it`s translational or rotational part. More... | |
| class | CartesianAccelerationSensing |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional acceleration of an object in cartesian space or it`s translational or rotational part. More... | |
| class | OrientationSensingIF |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationSensingIF |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | PoseSensingIF |
| By implementing this interface, a node is characterized as being able to sense a full pose in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationalVelocitySensingIF |
| Velocity. More... | |
| class | RotationalVelocitySensingIF |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part. More... | |
| class | CartesianVelocitySensingIF |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional velocity of an object in cartesian space or it`s translational or rotational part. More... | |
| class | TranslationalAccelerationSensingIF |
| Acceleration. More... | |
| class | RotationalAccelerationSensingIF |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional acceleration of an object in cartesian space or it`s translational or rotational part. More... | |
| class | CartesianAccelerationSensingIF |
| By implementing this interface, a node is characterized as being able to sense the 6-dimensional acceleration of an object in cartesian space or it`s translational or rotational part. More... | |
| class | SensingIF |
| Base sensing interface. More... | |
| class | PositionSensingIF |
| By implementing this interface, a node is characterized as being able to sense joint angles (encoder value). More... | |
| class | VelocitySensingIF |
| By implementing this interface, a node is characterized as being able to sense joint velocities (encoder value or derived). More... | |
| class | PressureSensingIF |
| By implementing this interface, a node is characterized as being able to sense pressure (for example a vault). More... | |
| class | LengthSensingIF |
| By implementing this interface, a node is characterized as being able to sense a length value. More... | |
| class | ForceSensingIF |
| By implementing this interface, a node is characterized as being able to sense (cartesian) forces. More... | |
| class | TorqueSensingIF |
| By implementing this interface, a node is characterized as being able to sense joint torques. More... | |
| class | PowerSensingIF |
| By implementing this interface, a node is characterized as being able to sense (cartesian) forces. More... | |
| class | Synchronizer |
| Synchronizer Different synchronizers may be for example: * Update with a given frequency ** Send data every time ** Send only if new data * Update only if new data (event-based) * Triggered from robot side (e.g. More... | |
Typedefs | |
| typedef boost::shared_ptr < ControlAspect > | ControlAspectPtr |
| typedef boost::shared_ptr < ControlMode > | ControlModePtr |
| typedef boost::shared_ptr < Acceleration > | AccelerationPtr |
| typedef boost::shared_ptr < TranslationalAcceleration > | TranslationalAccelerationPtr |
| typedef boost::shared_ptr < RotationalAcceleration > | RotationalAccelerationPtr |
| typedef boost::shared_ptr< Forces > | ForcesPtr |
| typedef boost::shared_ptr< Pose > | PosePtr |
| typedef boost::shared_ptr < Orientation > | OrientationPtr |
| typedef boost::shared_ptr < Translation > | TranslationPtr |
| typedef boost::shared_ptr < CartesianVelocity > | CartesianVelocityPtr |
| typedef boost::shared_ptr < CartesianAcceleration > | CartesianAccelerationPtr |
| typedef boost::shared_ptr < CartesianTranslational > | CartesianTranslationalPtr |
| typedef boost::shared_ptr < CartesianRotational > | CartesianRotationalPtr |
| typedef boost::shared_ptr < CartesianValue > | CartesianValuePtr |
| typedef boost::shared_ptr < Velocity > | VelocityPtr |
| typedef boost::shared_ptr < TranslationalVelocity > | TranslationalVelocityPtr |
| typedef boost::shared_ptr < RotationalVelocity > | RotationalVelocityPtr |
| typedef boost::shared_ptr < JointAngles > | JointAnglesPtr |
| typedef boost::shared_ptr < JointImpedance > | JointImpedancePtr |
| typedef boost::shared_ptr < JointStiffness > | JointStiffnessPtr |
| typedef boost::shared_ptr < JointDamping > | JointDampingPtr |
| typedef boost::shared_ptr < JointTorques > | JointTorquesPtr |
| typedef boost::shared_ptr < JointValues > | JointValuesPtr |
| typedef boost::shared_ptr < JointVelocities > | JointVelocitiesPtr |
| typedef boost::shared_ptr< Length > | LengthPtr |
| typedef boost::shared_ptr< Phase > | PhasePtr |
| typedef boost::shared_ptr< Power > | PowerPtr |
| typedef boost::shared_ptr < Pressure > | PressurePtr |
| typedef boost::shared_ptr < ResourceNode > | ResourceNodePtr |
| typedef boost::shared_ptr < Synchronizer > | SynchronizerPtr |
Variables | |
| static ControlAspectPtr | noControl |
| Less operator. | |
| static ControlAspectPtr | poseControl |
| Control aspect representing Pose Control (cartesian task space control). | |
| static const ControlAspectPtr | forceControl |
| Definition of default ControlAspect representing Pose Control (cartesian control). | |
| static const ControlAspectPtr | jointPositionControl |
| Definition of default ControlAspect representing Joint Position Control (joint angles). | |
| static const ControlAspectPtr | jointComplianceControl |
| Definition of default ControlAspect representing Joint Compliance Control (joint stiffness and damping for the joints). | |
| static const ControlAspectPtr | cartesianComplianceControl |
| Definition of default ControlAspect representing Cartesian Compliance Control (stiffness and damping in task space). | |
| static const ControlAspectPtr | jointVelocityControl |
| Definition of default ControlAspect representing Joint Velocity Control. | |
| static const ControlAspectPtr | jointTorqueControl |
| Definition of default ControlAspect representing Joint Torque Control. | |
| static ControlModePtr | modeNoControl |
| Definition of default ControlMode representing inactive control. | |
| static ControlModePtr | modePoseControl |
| Definition of default ControlMode representing Pose Control (cartesian control). | |
| static ControlModePtr | modeForceControl |
| Definition of default ControlMode representing Pose Control (cartesian control). | |
| static ControlModePtr | modeJointPositionControl |
| Definition of default ControlMode representing Joint Position Control (joint angles). | |
| static ControlModePtr | modeJointComplianceControl |
| Definition of default ControlMode representing Joint Compliance Control (joint stiffness and damping for the joints). | |
| static ControlModePtr | modeCartesianComplianceControl |
| Definition of default ControlMode representing Cartesian Compliance Control (stiffness and damping in task space). | |
| static ControlModePtr | modeJointVelocityControl |
| Definition of default ControlMode representing Joint Velocity Control. | |
| static ControlModePtr | modeJointTorqueControl |
| Definition of default ControlMode representing Joint Torque Control. | |
Typedef Documentation
| typedef boost::shared_ptr<Acceleration> rci::AccelerationPtr |
Definition at line 39 of file CartesianAcceleration.h.
| typedef boost::shared_ptr<CartesianAcceleration> rci::CartesianAccelerationPtr |
Definition at line 49 of file CartesianPose.h.
| typedef boost::shared_ptr<CartesianRotational> rci::CartesianRotationalPtr |
Definition at line 41 of file CartesianValues.h.
| typedef boost::shared_ptr<CartesianTranslational> rci::CartesianTranslationalPtr |
Definition at line 39 of file CartesianValues.h.
| typedef boost::shared_ptr<CartesianValue> rci::CartesianValuePtr |
Definition at line 43 of file CartesianValues.h.
| typedef boost::shared_ptr<CartesianVelocity> rci::CartesianVelocityPtr |
Definition at line 47 of file CartesianPose.h.
| typedef boost::shared_ptr<ControlAspect> rci::ControlAspectPtr |
Definition at line 35 of file ControlAspect.h.
| typedef boost::shared_ptr<ControlMode> rci::ControlModePtr |
Definition at line 38 of file ControlMode.h.
| typedef boost::shared_ptr<Forces> rci::ForcesPtr |
Definition at line 36 of file CartesianForces.h.
| typedef boost::shared_ptr<JointAngles> rci::JointAnglesPtr |
Definition at line 42 of file JointAngles.h.
| typedef boost::shared_ptr<JointDamping> rci::JointDampingPtr |
Definition at line 37 of file JointImpedance.h.
| typedef boost::shared_ptr<JointImpedance> rci::JointImpedancePtr |
Definition at line 33 of file JointImpedance.h.
| typedef boost::shared_ptr<JointStiffness> rci::JointStiffnessPtr |
Definition at line 35 of file JointImpedance.h.
| typedef boost::shared_ptr<JointTorques> rci::JointTorquesPtr |
Definition at line 38 of file JointTorques.h.
| typedef boost::shared_ptr<JointValues> rci::JointValuesPtr |
Definition at line 38 of file JointValues.h.
| typedef boost::shared_ptr<JointVelocities> rci::JointVelocitiesPtr |
Definition at line 38 of file JointVelocities.h.
| typedef boost::shared_ptr<Length> rci::LengthPtr |
| typedef boost::shared_ptr<Orientation> rci::OrientationPtr |
Definition at line 42 of file CartesianPose.h.
| typedef boost::shared_ptr<Phase> rci::PhasePtr |
| typedef boost::shared_ptr<Pose> rci::PosePtr |
Definition at line 40 of file CartesianPose.h.
| typedef boost::shared_ptr<Power> rci::PowerPtr |
| typedef boost::shared_ptr<Pressure> rci::PressurePtr |
Definition at line 39 of file Pressure.h.
| typedef boost::shared_ptr<ResourceNode> rci::ResourceNodePtr |
Definition at line 34 of file ResourceNode.h.
| typedef boost::shared_ptr<RotationalAcceleration> rci::RotationalAccelerationPtr |
Definition at line 43 of file CartesianAcceleration.h.
| typedef boost::shared_ptr<RotationalVelocity> rci::RotationalVelocityPtr |
Definition at line 43 of file CartesianVelocity.h.
| typedef boost::shared_ptr<Synchronizer> rci::SynchronizerPtr |
Definition at line 37 of file Synchronizer.h.
| typedef boost::shared_ptr<TranslationalAcceleration> rci::TranslationalAccelerationPtr |
Definition at line 41 of file CartesianAcceleration.h.
| typedef boost::shared_ptr<TranslationalVelocity> rci::TranslationalVelocityPtr |
Definition at line 41 of file CartesianVelocity.h.
| typedef boost::shared_ptr<Translation> rci::TranslationPtr |
Definition at line 44 of file CartesianPose.h.
| typedef boost::shared_ptr<Velocity> rci::VelocityPtr |
Definition at line 39 of file CartesianVelocity.h.
Variable Documentation
const ControlAspectPtr rci::cartesianComplianceControl [static] |
Initial value:
ControlAspect::create("Cartesian Compliance Control",
"ACTIVE_CARTESIAN_COMPLIANCE")
Definition of default ControlAspect representing Cartesian Compliance Control (stiffness and damping in task space).
Definition at line 163 of file ControlAspect.h.
const ControlAspectPtr rci::forceControl [static] |
Initial value:
ControlAspect::create( "Cartesian Force Control", "FORCE_CONTROL")
Definition of default ControlAspect representing Pose Control (cartesian control).
Definition at line 140 of file ControlAspect.h.
const ControlAspectPtr rci::jointComplianceControl [static] |
Initial value:
ControlAspect::create( "Joint Compliance Control", "ACTIVE_JOINT_COMPLIANCE")
Definition of default ControlAspect representing Joint Compliance Control (joint stiffness and damping for the joints).
Definition at line 156 of file ControlAspect.h.
const ControlAspectPtr rci::jointPositionControl [static] |
Initial value:
ControlAspect::create( "Joint Position Control", "POSITION_CONTROL")
Definition of default ControlAspect representing Joint Position Control (joint angles).
Definition at line 147 of file ControlAspect.h.
const ControlAspectPtr rci::jointTorqueControl [static] |
Initial value:
ControlAspect::create( "Joint Torque Control", "TORQUE_CONTROL")
Definition of default ControlAspect representing Joint Torque Control.
Definition at line 176 of file ControlAspect.h.
const ControlAspectPtr rci::jointVelocityControl [static] |
Initial value:
ControlAspect::create( "Joint Velocity Control", "VELOCITY_CONTROL")
Definition of default ControlAspect representing Joint Velocity Control.
Definition at line 170 of file ControlAspect.h.
Initial value:
ControlMode::create( "Cartesian Compliance Control", cartesianComplianceControl)
Definition of default ControlMode representing Cartesian Compliance Control (stiffness and damping in task space).
Definition at line 192 of file ControlMode.h.
ControlModePtr rci::modeForceControl [static] |
Initial value:
ControlMode::create( "Cartesian Force Control", forceControl)
Definition of default ControlMode representing Pose Control (cartesian control).
Definition at line 169 of file ControlMode.h.
Initial value:
ControlMode::create( "Joint Compliance Control", jointComplianceControl)
Definition of default ControlMode representing Joint Compliance Control (joint stiffness and damping for the joints).
Definition at line 185 of file ControlMode.h.
Initial value:
ControlMode::create( "Joint Position Control", jointPositionControl)
Definition of default ControlMode representing Joint Position Control (joint angles).
Definition at line 176 of file ControlMode.h.
Initial value:
ControlMode::create( "Joint Torque Control", jointTorqueControl)
Definition of default ControlMode representing Joint Torque Control.
Definition at line 204 of file ControlMode.h.
Initial value:
ControlMode::create( "Joint Velocity Control", jointVelocityControl)
Definition of default ControlMode representing Joint Velocity Control.
Definition at line 198 of file ControlMode.h.
ControlModePtr rci::modeNoControl [static] |
Initial value:
ControlMode::create( "Inactive / no Control", noControl)
Definition of default ControlMode representing inactive control.
Definition at line 155 of file ControlMode.h.
ControlModePtr rci::modePoseControl [static] |
Initial value:
ControlMode::create( "Cartesian Pose Control", poseControl)
Definition of default ControlMode representing Pose Control (cartesian control).
Definition at line 162 of file ControlMode.h.
ControlAspectPtr rci::noControl [static] |
Initial value:
ControlAspect::create( "Inactive / no Control", "NO_CONTROL")
Less operator.
Just for teh sake of definiong an order on ControlMode. Definition of default ControlAspect representing inactive control.
Definition at line 127 of file ControlAspect.h.
Referenced by rci::ControlMode::supports().
ControlAspectPtr rci::poseControl [static] |
Initial value:
ControlAspect::create( "Cartesian Pose Control", "POSE_CONTROL")
Control aspect representing Pose Control (cartesian task space control).
Definition at line 133 of file ControlAspect.h.
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