ERC CISST - cisst software

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robCollaborativeControlForce Class Reference

Collaboration diagram for robCollaborativeControlForce:

[legend]List of all members.

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Detailed Description

Definition at line 31 of file robCollaborativeControlForce.h.

Public Member Functions

• robCollaborativeControlForce (double linearGainMaster, double linearGainSlave, double forceLimit, ParameterType::ForceModeType forceMode, double masterToSlaveScale, double forceFeedbackRatio)
• ~robCollaborativeControlForce (void)
• void SetParameters (const ParameterType &commandedParameter)
• void Update (const vct3 &p1, const vct3 &p2, const bool ClutchMaster, const bool ClutchSlave, vctFixedSizeVector< double, 6 > &ForceMaster, vctFixedSizeVector< double, 6 > &ForceSlave)

Protected Member Functions

• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationMasterClutch)
• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationSlaveClutch)
• CMN_DECLARE_MEMBER_AND_ACCESSORS (bool, ApplicationMasterSlaveClutch)
• CMN_DECLARE_MEMBER_AND_ACCESSORS (ParameterType, Parameter)

Protected Attributes

• vct3 WorkspaceOffset
• vct3 ClutchOffset
• vct3 LeftClutchOffset
• vct3 RightClutchOffset
• vct3 LeftClutchMSOffset
• vct3 RightClutchMSOffset
• vct3 Error
• vct3 p1Goal
• vct3 p2Goal
• vct3 p1RGoal
• vct3 p2RGoal
• vct3 p1Clutched
• vct3 p2Clutched
• vct3 p1R
• vct3 p2R
• vct3 p1Last
• vct3 p2Last
• bool FirstIteration
• bool ClutchDone
• bool BothClutched
• bool ClutchOffsetAdd
• int ClutchMode
• double ForceFeedNormMaster
• double ForceFeedNormSlave
• vctFrm3 RelativeTransform

Classes

• class ParameterType

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Member Function Documentation

void robCollaborativeControlForce::SetParameters

(

const ParameterType &

commandedParameter

)

Set Parameters function takes arguments from the parent class to mutate the values of; Force Limit, Scale Factor Force Coefficient, Force Mode. These values are currently being used by devicesTutorialExample3 GUI via devSensableHDMasterSlave class.

void robCollaborativeControlForce::Update	(	const vct3 &	p1,
		const vct3 &	p2,
		const bool	ClutchMaster,
		const bool	ClutchSlave,
		vctFixedSizeVector< double, 6 > &	ForceMaster,
		vctFixedSizeVector< double, 6 > &	ForceSlave
	)

Update function's goal is to carry out position to force control. Two position parameters and two clutch parameters are provided by the parent class. This function uses those positions and the clutch parameters to calculate the desired force values for teleoperation. Designed for Phantom Omni teleoperation, has not been tested on other platforms.

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Member Data Documentation

vct3 robCollaborativeControlForce::WorkspaceOffset [protected]

Parameters being used by the Update function for teleoperation

vct3 declarations include the offsets for the workspace, clutch overall, clutch left and right, and the goals for first and second device.

Other declarations(bool, double) are mostly used to manipulate the above mentioned data, such as temporary booleans, scale factor, force limit, etc.

Definition at line 98 of file robCollaborativeControlForce.h.

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The documentation for this class was generated from the following file:

• robCollaborativeControlForce.h

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