phynt component

Table of Contents

• Ports
  • state (in)
  • wrench_measure (in)
  • reference (in)
  • desired (out)
  • external_wrench (out)
• Services
  • set_mass (attribute)
  • set_geom (attribute)
  • set_af_parameters (attribute)
  • set_af_wrench (attribute)
  • set_wo_gains (attribute)
  • get_body_parameters (attribute)
  • get_reference (attribute)
  • get_wo_parameters (attribute)
  • get_af_parameters (attribute)
  • servo (activity)
  • set_state (function)
  • set_position (function)
  • set_current_position (activity)
  • stop (function)
  • log (function)
  • log_stop (function)
  • log_info (function)
• Tasks
  • main

Ports

state (in)

Data structure struct ::or_pose_estimator::state state struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::pos_cov > pos_cov double cov[6] optional< struct ::or::t3d::att_cov > att_cov double cov[10] optional< struct ::or::t3d::att_pos_cov > att_pos_cov double cov[12] optional< struct ::or::t3d::vel_cov > vel_cov double cov[6] optional< struct ::or::t3d::avel_cov > avel_cov double cov[6] optional< struct ::or::t3d::acc_cov > acc_cov double cov[6] optional< struct ::or::t3d::aacc_cov > aacc_cov double cov[6]

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wrench_measure (in)

Data structure struct ::or_wrench_estimator::state wrench_measure struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::rb3d::force > force double x double y double z optional< struct ::or::rb3d::force_cov > force_cov double cov[6] optional< struct ::or::rb3d::torque > torque double x double y double z optional< struct ::or::rb3d::torque_cov > torque_cov double cov[6]

---

reference (in)

Data structure struct ::or_rigid_body::state reference struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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desired (out)

Data structure struct ::or_rigid_body::state desired struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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external_wrench (out)

Data structure struct ::or_wrench_estimator::state external_wrench struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::rb3d::force > force double x double y double z optional< struct ::or::rb3d::force_cov > force_cov double cov[6] optional< struct ::or::rb3d::torque > torque double x double y double z optional< struct ::or::rb3d::torque_cov > torque_cov double cov[6]

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Services

set_mass (attribute)

Inputs double mass

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set_geom (attribute)

Inputs double J[9] Inertia matrix

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set_af_parameters (attribute)

Inputs double mass Apparent mass double B[6] Apparent damping double K[6] Apparent sprinf stiffness double J[9] Apparent inertia matrix

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set_af_wrench (attribute)

Inputs struct ::or::rb3d::force force double x double y double z struct ::or::rb3d::torque torque double x double y double z

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set_wo_gains (attribute)

Inputs double K[6] Wrench observer gains

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get_body_parameters (attribute)

Outputs struct ::phynt::ids::body_s body double J[9] double mass

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get_reference (attribute)

Outputs struct ::or_rigid_body::state reference struct ::or::time::ts ts unsigned long sec unsigned long nsec boolean intrinsic optional< struct ::or::t3d::pos > pos double x double y double z optional< struct ::or::t3d::att > att double qw double qx double qy double qz optional< struct ::or::t3d::vel > vel double vx double vy double vz optional< struct ::or::t3d::avel > avel double wx double wy double wz optional< struct ::or::t3d::acc > acc double ax double ay double az optional< struct ::or::t3d::aacc > aacc double awx double awy double awz optional< struct ::or::t3d::jerk > jerk double jx double jy double jz optional< struct ::or::t3d::snap > snap double sx double sy double sz

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get_wo_parameters (attribute)

Outputs struct ::phynt::ids::wo_s wo double K[6] double bias[6]

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get_af_parameters (attribute)

Outputs struct ::phynt::ids::af_s af boolean enable double mass double B[6] double K[6] double J[9] struct ::or::rb3d::force force double x double y double z struct ::or::rb3d::torque torque double x double y double z

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servo (activity)

Throws exception ::phynt::e_input

Context In task main (frequency 1000.0 Hz) Reads port reference (in)

Track a desired position

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set_state (function)

Inputs struct ::or::t3d::pos pos: Position double x double y double z struct ::or::t3d::att att: Orientation double qw double qx double qy double qz struct ::or::t3d::vel vel: Linear velocity double vx double vy double vz struct ::or::t3d::avel avel: Angular velocity double wx double wy double wz struct ::or::t3d::acc acc: Acceleration double ax double ay double az struct ::or::t3d::aacc aacc: Angular acceleration double awx double awy double awz struct ::or::t3d::jerk jerk: Linear jerk double jx double jy double jz struct ::or::t3d::snap snap: Linear snap double sx double sy double sz

Context Interrupts servo (activity)

Set the desired state

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set_position (function)

Inputs double x double y double z double yaw

Context Interrupts servo (activity)

Set the desired position

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set_current_position (activity)

Throws exception ::phynt::e_input

Context In task main (frequency 1000.0 Hz) Reads port state (in) Interrupts servo (activity)

Set the desired position

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stop (function)

Context Interrupts servo (activity)

Stop tracking a desired position

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log (function)

Inputs string<64> path (default "/tmp/phynt.log") Log file name unsigned long decimation (default "1") Reduced logging frequency

Throws exception ::phynt::e_sys short code string<128> what

Log controller data

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log_stop (function)

Stop logging

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log_info (function)

Outputs unsigned long miss Missed log entries unsigned long total Total log entries

Show missed log entries

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Tasks

main

Context Frequency 1000.0 Hz Reads port state (in) Reads port wrench_measure (in) Updates port desired (out) Updates port external_wrench (out)

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