From f9f1fdef0f7000a83def17b596b448e81c7b78ae Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Sun, 28 Apr 2024 15:39:40 +0200
Subject: [PATCH] Use new NJointHolonomicPlatformVelocityControllerWithRamp in
RobotUnit
---
...ntHolonomicPlatformVelocityControllerWithRamp.h | 1 -
.../RobotUnitModules/RobotUnitModuleUnits.cpp | 14 ++++++++------
.../units/RobotUnit/Units/PlatformSubUnit.h | 3 ++-
3 files changed, 10 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
index 186d7c581..9070f0287 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h
@@ -27,7 +27,6 @@
#include <RobotAPI/libraries/core/CartesianVelocityRamp.h>
#include "../ControlTargets/ControlTargetHolonomicPlatformVelocity.h"
-#include "../util.h"
#include "NJointControllerWithTripleBuffer.h"
namespace armarx
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
index 16af4f8c0..7a60318dc 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp
@@ -449,15 +449,19 @@ namespace armarx::RobotUnitModule
Component::create<UnitT>(properties, configName, getConfigDomain());
//config
ARMARX_TRACE;
- NJointHolonomicPlatformUnitVelocityPassThroughControllerConfigPtr config =
- new NJointHolonomicPlatformUnitVelocityPassThroughControllerConfig;
+ NJointHolonomicPlatformVelocityControllerWithRampConfigPtr config =
+ new NJointHolonomicPlatformVelocityControllerWithRampConfig;
config->initialVelocityX = 0;
config->initialVelocityY = 0;
config->initialVelocityRotation = 0;
config->platformName = _module<RobotData>().getRobotPlatformName();
- auto ctrl = NJointHolonomicPlatformUnitVelocityPassThroughControllerPtr::dynamicCast(
+
+ config->maxPositionAcceleration = 800;
+ config->maxOrientationAcceleration = 80;
+
+ auto ctrl = NJointHolonomicPlatformVelocityControllerWithRampPtr::dynamicCast(
_module<ControllerManagement>().createNJointController(
- "NJointHolonomicPlatformUnitVelocityPassThroughController",
+ "NJointHolonomicPlatformVelocityControllerWithRamp",
getName() + "_" + configName + "_VelPTContoller",
config,
false,
@@ -479,7 +483,6 @@ namespace armarx::RobotUnitModule
false,
true));
ARMARX_CHECK_EXPRESSION(ctrlRelativePosition);
- unit->pt = ctrl;
unit->relativePosCtrl = ctrlRelativePosition;
// unit->platformSensorIndex = _module<Devices>().getSensorDevices().index(_module<RobotData>().getRobotPlatformName());
@@ -496,7 +499,6 @@ namespace armarx::RobotUnitModule
true));
ARMARX_TRACE;
ARMARX_CHECK_EXPRESSION(ctrlGlobalPosition);
- unit->pt = ctrl;
unit->globalPosCtrl = ctrlGlobalPosition;
ARMARX_TRACE;
diff --git a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
index 90d5443bf..5c2bb4a8d 100755
--- a/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
+++ b/source/RobotAPI/components/units/RobotUnit/Units/PlatformSubUnit.h
@@ -31,6 +31,7 @@
#include <RobotAPI/components/units/PlatformUnit.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformGlobalPositionController.h>
#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformRelativePositionController.h>
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.h>
#include <RobotAPI/interface/core/RobotState.h>
#include <RobotAPI/libraries/core/Pose.h>
@@ -93,7 +94,7 @@ namespace armarx
void stopPlatform(const Ice::Current& c = Ice::emptyCurrent) override;
- NJointHolonomicPlatformUnitVelocityPassThroughControllerPtr pt;
+ NJointHolonomicPlatformVelocityControllerWithRampPtr pt;
NJointHolonomicPlatformRelativePositionControllerPtr relativePosCtrl;
NJointHolonomicPlatformGlobalPositionControllerPtr globalPosCtrl;
--
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