hekateros::HekTunes Class Reference

Hekateros tuning data class. More...

#include <hekTune.h>

Public Types
typedef std::map< std::string, HekTunesJoint >	MapJointTunes

Public Member Functions
	HekTunes ()
	Default constructor.
	~HekTunes ()
	Destructor.
double	getKinematicsHz () const
	Get kinematics thread cycle rate tune parameter (hertz). More...
double	getVelocityDerate () const
	Get derated velocity tune parameter (normalized). More...
void	getTrajectoryParams (HekNorm &eNorm, double &fEpsilon) const
	Get trajectory tune parameters. More...
void	getToleranceParams (const std::string &strJointName, double &fTolPos, double &fTolVel) const
	Get joint tolerance tune parameters. More...
void	getPidKParams (const std::string &strJointName, double &fKp, double &fKi, double &fKd) const
	Get joint PID K tune parameters. More...
double	getPidMaxDeltaV (const std::string &strJointName) const
	Get joint PID maximum delta v (radians/second) tune parameter. More...
void	getTorqueParams (const std::string &strJointName, double &fOverTorqueTh, double &fClearTorqueTh) const
	Get joint torque parameters. More...

Public Attributes
double	m_fKinematicsHz
	kinematic thread rate (hertz)
double	m_fClearTorqueOffset
	clear over torque condition offset (frac)
double	m_fVelDerate
	velocity derate (fraction)
HekNorm	m_eTrajNorm
	trajectory distanct norm
double	m_fTrajEpsilon
	trajectory epsilon distance (radians)
MapJointTunes	m_mapJointTunes
	per joint tuning

Detailed Description

Hekateros tuning data class.

Definition at line 408 of file hekTune.h.

Member Typedef Documentation

typedef std::map<std::string, HekTunesJoint> hekateros::HekTunes::MapJointTunes

Map of joint tuning parameters.

Definition at line 412 of file hekTune.h.

Member Function Documentation

double hekateros::HekTunes::getKinematicsHz ( ) const

inline

Get kinematics thread cycle rate tune parameter (hertz).

Returns

Hertz.

Definition at line 441 of file hekTune.h.

    {
      return m_fKinematicsHz;
    }

void HekTunes::getPidKParams	(	const std::string &	strJointName,
		double &	fKp,
		double &	fKi,
		double &	fKd
	)		const

Get joint PID K tune parameters.

Parameters

	strJointName	Name of joint.
[out]	fKp	Proportional constant.
[out]	fKi	Integral constant.
[out]	fKd	Derivative constant.

Definition at line 118 of file hekTune.cxx.

Referenced by hekateros::HekKinJoint::HekKinJoint(), and hekateros::HekKinJoint::reload().

{
  MapJointTunes::const_iterator pos;

  if( (pos = m_mapJointTunes.find(strJointName)) != m_mapJointTunes.end() )
  {
    fKp = pos->second.m_fPidKp;
    fKi = pos->second.m_fPidKi;
    fKd = pos->second.m_fPidKd;
  }
  else
  {
    fKp = HekTunePidKpDft;
    fKi = HekTunePidKiDft;
    fKd = HekTunePidKdDft;
  }
}

double HekTunes::getPidMaxDeltaV

(

const std::string &

strJointName

)

const

Get joint PID maximum delta v (radians/second) tune parameter.

Parameters

strJointName

Name of joint.

Returns

Maximum output delta velocity (radians/second).

Definition at line 137 of file hekTune.cxx.

References hekateros::degToRad().

Referenced by hekateros::HekKinJoint::HekKinJoint(), and hekateros::HekKinJoint::reload().

{
  MapJointTunes::const_iterator pos;

  if( (pos = m_mapJointTunes.find(strJointName)) != m_mapJointTunes.end() )
  {
    return pos->second.m_fPidMaxDeltaV;
  }
  else
  {
    return degToRad(HekTunePidMaxDeltaVDft);
  }
}

void HekTunes::getToleranceParams	(	const std::string &	strJointName,
		double &	fTolPos,
		double &	fTolVel
	)		const

Get joint tolerance tune parameters.

Parameters

	strJointName	Name of joint.
[out]	fTolPos	Position tolerance (radians)
[out]	fTolVel	Velocity tolerance (radians/second)

Definition at line 101 of file hekTune.cxx.

References hekateros::degToRad().

Referenced by hekateros::HekKinJoint::HekKinJoint(), and hekateros::HekKinJoint::reload().

{
  MapJointTunes::const_iterator pos;

  if( (pos = m_mapJointTunes.find(strJointName)) != m_mapJointTunes.end() )
  {
    fTolPos = pos->second.m_fTolPos;
    fTolVel = pos->second.m_fTolVel;
  }
  else
  {
    fTolPos = degToRad(HekTuneTolPosDft);
    fTolVel = degToRad(HekTuneTolVelDft);
  }
}

void HekTunes::getTorqueParams	(	const std::string &	strJointName,
		double &	fOverTorqueTh,
		double &	fClearTorqueTh
	)		const

Get joint torque parameters.

Parameters

	strJointName	Name of joint.
[out]	fOverTorqueTh	Over torque threshold (normalized).
[out]	fClearTorqueTh	Clear over torque condition threshold (normalized).

Definition at line 151 of file hekTune.cxx.

Referenced by hekateros::HekKinJoint::HekKinJoint(), and hekateros::HekKinJoint::reload().

{
  MapJointTunes::const_iterator pos;

  if( (pos = m_mapJointTunes.find(strJointName)) != m_mapJointTunes.end() )
  {
    fOverTorqueTh = pos->second.m_fOverTorqueTh;
  }
  else
  {
    fOverTorqueTh = HekTuneOverTorqueThDft / 100.0;
  }
  fClearTorqueTh = fOverTorqueTh * m_fClearTorqueOffset;
}

void hekateros::HekTunes::getTrajectoryParams ( HekNorm &  eNorm, double &  fEpsilon  ) const

inline

Get trajectory tune parameters.

Parameters

[out]	eNorm	Distance norm.
[out]	fEpsilon	Waypoint precision (radians)

Definition at line 462 of file hekTune.h.

Referenced by hekateros::HekRobot::getTrajectoryParams().

    {
      eNorm     = m_eTrajNorm;
      fEpsilon  = m_fTrajEpsilon;
    }

double hekateros::HekTunes::getVelocityDerate ( ) const

inline

Get derated velocity tune parameter (normalized).

Returns

Derated value [0, 1].

Definition at line 451 of file hekTune.h.

Referenced by hekateros::HekKinJoint::HekKinJoint(), and hekateros::HekKinJoint::reload().

    {
      return m_fVelDerate;
    }

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

• include/Hekateros/hekTune.h
• sw/libhekateros/hekTune.cxx