robot_control.h File Reference

Generic robot control functions. More...

#include <math.h>
#include "plugin_loader/loader_macros.h"

Go to the source code of this file.

Classes
struct	DoFVariables
	Control used variables list indexes enumeration. More...

Macros
#define	M_PI   3.14159
	Defines mathematical Pi value if standard math.h one is not available.
#define	ROBOT_CONTROL_INTERFACE(Interface, INIT_FUNCTION)
	Robot control interface declaration macro, using Plug-in Loader convention. More...

Typedefs
typedef struct DoFVariables	DoFVariables
	Control used variables list indexes enumeration.

Enumerations
enum	ControlState {   CONTROL_PASSIVE, CONTROL_OFFSET, CONTROL_CALIBRATION, CONTROL_PREPROCESSING,   CONTROL_OPERATION, CONTROL_STATES_NUMBER }
	Defined possible control states enumeration. Passed to generic or plugin specific robot control implementations. More...

Detailed Description

Generic robot control functions.

Common robot control interface to be implemented by device specific plugins Considers 2 different coordinate/degree-of-freedom sets: joints and axes (for a detailed explanation, see [The Joint/Axis Rationale]())

Macro Definition Documentation

ROBOT_CONTROL_INTERFACE

#define ROBOT_CONTROL_INTERFACE	(		Interface,
			INIT_FUNCTION
	)

Value:

        INIT_FUNCTION( bool, Interface, InitController, const char* ) \
        INIT_FUNCTION( void, Interface, EndController, void ) \
        INIT_FUNCTION( size_t, Interface, GetJointsNumber, void ) \
        INIT_FUNCTION( const char**, Interface, GetJointNamesList, void ) \
        INIT_FUNCTION( size_t, Interface, GetAxesNumber, void ) \
        INIT_FUNCTION( const char**, Interface, GetAxisNamesList, void ) \
        INIT_FUNCTION( void, Interface, SetControlState, enum ControlState ) \
        INIT_FUNCTION( void, Interface, RunControlStep, DoFVariables**, DoFVariables**, DoFVariables**, DoFVariables**, double ) \
        INIT_FUNCTION( size_t, Interface, GetExtraInputsNumber, void ) \
        INIT_FUNCTION( void, Interface, SetExtraInputsList, double* ) \
        INIT_FUNCTION( size_t, Interface, GetExtraOutputsNumber, void ) \
        INIT_FUNCTION( void, Interface, GetExtraOutputsList, double* )

Robot control interface declaration macro, using Plug-in Loader convention.

Enumeration Type Documentation

ControlState

enum ControlState

Defined possible control states enumeration. Passed to generic or plugin specific robot control implementations.

Enumerator
CONTROL_PASSIVE	State for fully compliant robot control/behaviour.
CONTROL_OFFSET	State for definition of reference (zero) for controller measurements.
CONTROL_CALIBRATION	State for definition of limits (min-max) for controller measurements.
CONTROL_PREPROCESSING	State for custom automatic preprocessing of controller parameters.
CONTROL_OPERATION	State for normal controller operation.
CONTROL_STATES_NUMBER	Total number of control states.