Description

Generic robot actuation driver using interpolated data from files.

ChRobotActuation takes 3 input files, the lines of which contain a time stamp and values for the motor actuations (equal in number to the number of specified motors). The "cycle" input data file is required, while the "start" and "stop" input files are optional. Within each input data file, time stamps are assumed to start at 0. Actuations at the current time are calculated (through linear interpolation within each data set) each time the Update() function is called.

In the most general case, the robot is assumed to go through the following phases:

1. POSE:
   During this phase (of user-specified duration), the actuations are evolved to the initial pose, defined by the
   first line of the "start" dataset (if it exists, otherwise, the "cycle" dataset).
   This is done by interpolation using a logistic function.
2. HOLD:
   During this phase (of user-specified duration), the robot holds the initial pose.
3. START:
   During this phase, the robot assumes the pose necessary for a particular operation mode.
4. CYCLE:
   This is the main operating phase. This phase can be repeated if so indicated.
5. STOP:
   During this phase, the robot assumes a rest end position.

The different input data files are assumed to be consistent with each other (for example, the end of the "start" dataset must match the beginning of a cycle.

#include <ChRobotActuation.h>

Classes
class	PhaseChangeCallback
	Class to be used as callback interface for user-defined actions at phase changes. More...

Public Types
enum	Phase { POSE, HOLD, START, CYCLE, STOP }
	Actuation phases. More...

typedef std::vector< double >	Actuation

Public Member Functions
	ChRobotActuation (int num_motors, const std::string &filename_start, const std::string &filename_cycle, const std::string &filename_stop, bool repeat=false)
	Constrauct a robot actuator using the specified input data files. More...

void	SetVerbose (bool verbose)
	Enable/disable verbose output (default: false).

void	SetTimeOffsets (double time_pose, double time_hold)
	Specify time intervals to assume and then hold the initial pose (default: 1s, 1s). More...

const Actuation &	GetActuation () const
	Return the current motor actuations.

const std::string &	GetCurrentPhase () const
	Return the current phase.

void	RegisterPhaseChangeCallback (PhaseChangeCallback *callback)
	Register a phase-change callback object.

void	Update (double time)
	Update internal state of the robot driver.

Friends
class	RoboSimian

Member Enumeration Documentation

◆ Phase

enum chrono::parsers::ChRobotActuation::Phase

Actuation phases.

Enumerator
POSE	from design configuration to an initial pose
HOLD	hold the last configuration
START	from initial pose to operating pose
CYCLE	operation (periodic)
STOP	from operating pose to final pose

Constructor & Destructor Documentation

◆ ChRobotActuation()

chrono::parsers::ChRobotActuation::ChRobotActuation	(	int	num_motors,
		const std::string &	filename_start,
		const std::string &	filename_cycle,
		const std::string &	filename_stop,
		bool	repeat = `false`
	)

Constrauct a robot actuator using the specified input data files.

The data files for the "start" and "stop" phases are not required (pass an ampty string).

Parameters

num_motors	number of actuated motors
filename_start	name of file with joint actuations for start phase
filename_cycle	name of file with joint actuations for cycle phase
filename_stop	name of file with joint actuations for stop phase
repeat	true if cycle phase is looped

Member Function Documentation

◆ SetTimeOffsets()

void chrono::parsers::ChRobotActuation::SetTimeOffsets	(	double	time_pose,
		double	time_hold
	)

Specify time intervals to assume and then hold the initial pose (default: 1s, 1s).

Parameters

time_pose	time to transition to initial pose (duration of POSE phase)
time_hold	time to hold initial pose (duration of HOLD phase)

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

/builds/uwsbel/chrono/src/chrono_parsers/ChRobotActuation.h
/builds/uwsbel/chrono/src/chrono_parsers/ChRobotActuation.cpp

Description

Classes

Public Types