From 523e33b01ee0390f68a58e530bd754c70a4b2f1f Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Mon, 22 Jun 2020 00:06:07 +0200
Subject: [PATCH] Update ice interface
---
.../TaskSpaceActiveImpedanceControl.ice | 33 ++++++++++++-------
1 file changed, 21 insertions(+), 12 deletions(-)
diff --git a/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice b/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
index 8d1800bd0..0a831756a 100644
--- a/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/TaskSpaceActiveImpedanceControl.ice
@@ -22,6 +22,7 @@
#pragma once
+#include <ArmarXCore/interface/serialization/Eigen.ice>
#include <RobotAPI/interface/units/RobotUnit/NJointController.ice>
module armarx
@@ -29,24 +30,32 @@ module armarx
class NJointTaskSpaceImpedanceControlConfig extends NJointControllerConfig
{
string nodeSetName;
- Ice::FloatSeq desiredPoseVec;
- Ice::FloatSeq desiredJointPositions;
-
- Ice::FloatSeq Kpos;
- Ice::FloatSeq Kori;
- Ice::FloatSeq Dpos;
- Ice::FloatSeq Dori;
- Ice::FloatSeq Knull;
- Ice::FloatSeq Dnull;
- float torqueLimit;
+ Eigen::Vector3f desiredPosition;
+ Eigen::Quaternionf desiredOrientation;
+
+ Eigen::Vector3f Kpos;
+ Eigen::Vector3f Kori;
+ Eigen::Vector3f Dpos;
+ Eigen::Vector3f Dori;
+
+ Eigen::VectorXf desiredJointPositions;
+ Eigen::VectorXf Knull;
+ Eigen::VectorXf Dnull;
+
+ float torqueLimit;
};
interface NJointTaskSpaceImpedanceControlInterface extends NJointControllerInterface
{
- void setPosition(Ice::FloatSeq target);
- void setOrientation(Ice::FloatSeq orientation);
+ void setPosition(Eigen::Vector3f target);
+ void setOrientation(Eigen::Quaternionf orientation);
+ void setPositionOrientation(Eigen::Vector3f target, Eigen::Quaternionf orientation);
+ void setPose(Eigen::Matrix4f mat);
+
void setImpedanceParameters(string paraName, Ice::FloatSeq vals);
+ void setNullspaceConfig(Eigen::VectorXf desiredJointPositions, Eigen::VectorXf Knull, Eigen::VectorXf Dnull);
+ void setConfig(NJointTaskSpaceImpedanceControlConfig cfg);
};
};
--
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