#include <controller.h>

Inheritance diagram for rm_chassis_controllers::BipedalController:

[legend]

Collaboration diagram for rm_chassis_controllers::BipedalController:

[legend]

Public Member Functions
	BipedalController ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override

void	moveJoint (const ros::Time &time, const ros::Duration &period) override

void	stopping (const ros::Time &time) override

bool	getOverturn () const override

bool	getStateChange () const override

bool	getCompleteStand () const override

Eigen::Matrix< double, 4, CONTROL_DIM *STATE_DIM >	getCoeffs () override

const std::shared_ptr< ModelParams > &	getModelParams () const override

const std::shared_ptr< ControlParams > &	getControlParams () const override

const std::shared_ptr< BiasParams > &	getBiasParams () const override

const std::shared_ptr< LegStateThresholdParams > &	getLegThresholdParams () const override

const std::shared_ptr< ChassisGeometryParams > &	getChassisGeometryParams () const override

double	getLegCmd () const override

double	getJumpCmd () const override

int	getBaseState () const override

double	getDefaultLegLength () const override

geometry_msgs::Vector3	getVelCmd () override

bool	getMoveFlag () const override

void	setMoveFlag (const bool &move_flag) override

const ChassisState &	getChassisState () override

LegState &	getLegState (Side side) override

bool	getDown5cmStairFlag () const override

void	setDown5cmStairFlag (bool flag) override

void	setStateChange (bool state) override

void	setCompleteStand (bool state) override

void	setJumpCmd (bool cmd) override

void	setMode (int mode) override

void	clearRecoveryFlag () override

double	f_spring_force (double L0) override

void	pubState () override

void	pubLQRStatus (Eigen::Matrix< double, STATE_DIM, 1 > left_error, Eigen::Matrix< double, STATE_DIM, 1 > right_error, Eigen::Matrix< double, STATE_DIM, 1 > left_ref, Eigen::Matrix< double, STATE_DIM, 1 > right_ref, Eigen::Matrix< double, CONTROL_DIM, 1 > u_left, Eigen::Matrix< double, CONTROL_DIM, 1 > u_right, Eigen::Matrix< double, CONTROL_DIM, 1 > F_leg_, const bool unstick[2]) const override

void	pubLegLenStatus (const bool &upstair_flag) override

void	clearStatus () override

void	pubDebugData (const std::string &name, double value) override

void	setRecoveryLegSpdTurnback (bool recovery_leg_spd_turnback) override

bool	getRecoveryLegSpdTurnback () const override

double	getLegThetaOffset (const double &leg_len) override

Public Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::ImuSensorInterface, hardware_interface::EffortJointInterface >
	ChassisBase ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get and check params for covariances. Setup odometry realtime publisher + odom message constant fields. init odom tf.

void	update (const ros::Time &time, const ros::Duration &period) override
	Receive real_time command from manual. Execute different action according to current mode. Set necessary params of chassis. Execute power limit.

Public Member Functions inherited from rm_chassis_controllers::BipedalControllerInterface
virtual	~BipedalControllerInterface ()=default

Additional Inherited Members
Protected Types inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::ImuSensorInterface, hardware_interface::EffortJointInterface >
enum

Protected Member Functions inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::ImuSensorInterface, hardware_interface::EffortJointInterface >
void	raw ()

virtual void	follow (const ros::Time &time, const ros::Duration &period)
	The mode FOLLOW: chassis will follow gimbal.

void	twist (const ros::Time &time, const ros::Duration &period)
	The mode TWIST: Just moving chassis.

void	updateOdom (const ros::Time &time, const ros::Duration &period)
	Init frame on base_link. Integral vel to current_pos_ and angle.

void	recovery ()
	Set chassis velocity to zero.

void	tfVelToBase (const std::string &from)
	Transform tf velocity to base link frame.

virtual void	powerLimit ()
	To limit the chassis power according to current power limit.

virtual void	updatePowerStatus ()

void	cmdChassisCallback (const rm_msgs::ChassisCmdConstPtr &msg)
	Write current command from rm_msgs::ChassisCmd.

void	cmdVelCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Write current command from geometry_msgs::Twist.

void	initialize_parameters (ros::NodeHandle &controller_nh)

void	slamCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	localizationCallback (const geometry_msgs::TransformStamped::ConstPtr &msg)

void	capacityCallback (const rm_msgs::PowerManagementSampleAndStatusData::ConstPtr &msg)

Protected Attributes inherited from rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::ImuSensorInterface, hardware_interface::EffortJointInterface >
rm_control::RobotStateHandle	robot_state_handle_

hardware_interface::EffortJointInterface *	effort_joint_interface_

std::vector< hardware_interface::JointHandle >	joint_handles_

realtime_tools::RealtimeBuffer< Command >	cmd_rt_buffer_

realtime_tools::RealtimeBuffer< nav_msgs::Odometry >	slam_rt_buffer_

realtime_tools::RealtimeBuffer< geometry_msgs::TransformStamped >	localization_rt_buffer_

std::unique_ptr< realtime_tools::RealtimePublisher< nav_msgs::Odometry > >	odom_pub_

std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	cpower_pub_

std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	epower_pub_

std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::Float64 > >	chassis_power_pub_

rm_common::TfRtBroadcaster	brcst4global_map2robot_odom_

rm_common::TfRtBroadcaster	brcst4global_map2camera_init_

rm_common::TfRtBroadcaster	brcst4robot_odom2robot_base_

geometry_msgs::TransformStamped	global_map2robot_odom_

geometry_msgs::TransformStamped	global_map2camera_init_

geometry_msgs::TransformStamped	robot_odom2robot_base_

geometry_msgs::TransformStamped	robot_base2lidar_base_

tf2::Transform	T_global_map2robot_odom_

tf2::Transform	T_robot_odom_2robot_base_

tf2::Transform	T_lidar_odom2lidar_base_

tf2::Transform	T_robot_base2lidar_base_

tf2::Transform	T_global_map2lidar_odom_

ros::Subscriber	cmd_vel_sub_

ros::Subscriber	cmd_chassis_sub_

ros::Subscriber	slam_sub_

ros::Subscriber	localization_sub_

ros::Subscriber	capacity_sub_

std::unique_ptr< RampFilter< double > >	ramp_x_

std::unique_ptr< RampFilter< double > >	ramp_y_

std::unique_ptr< RampFilter< double > >	ramp_w_

double	publish_rate_

bool	publish_map_tf_

bool	publish_odom_tf_

bool	gravity_estimation_offset_

double	roll_

double	pitch_

double	yaw_

double	wheel_radius_

double	twist_angular_

double	max_odom_vel_

double	timeout_

double	chassis_power_

bool	capacity_update_flag_

bool	use_rls_

bool	use_K_angle_

bool	odom_initialized_

bool	slam_updated_

bool	localization_updated_

bool	state_changed_

int	state_

std::string	follow_source_frame_

std::string	command_source_frame_

std::string	global_map_frame_id_

std::string	robot_odom_frame_id_

std::string	robot_base_frame_id_

std::string	lidar_base_frame_id_

std::string	slam_topic_

std::string	localization_topic_

std::string	capacity_topic_

ros::Time	last_publish_time_

geometry_msgs::Vector3	vel_cmd_

std::array< double, 36 >	twist_covariance_

control_toolbox::Pid	pid_follow_

Command	cmd_struct_

PowerLimitor	wheel_power_limitor_

Constructor & Destructor Documentation

◆ BipedalController()

rm_chassis_controllers::BipedalController::BipedalController ( )

default

Member Function Documentation

◆ clearRecoveryFlag()

void rm_chassis_controllers::BipedalController::clearRecoveryFlag ( )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ clearStatus()

void rm_chassis_controllers::BipedalController::clearStatus ( )

overridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ f_spring_force()

double rm_chassis_controllers::BipedalController::f_spring_force ( double L0 )

overridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getBaseState()

int rm_chassis_controllers::BipedalController::getBaseState ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getBiasParams()

const std::shared_ptr< BiasParams > & rm_chassis_controllers::BipedalController::getBiasParams ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getChassisGeometryParams()

const std::shared_ptr< ChassisGeometryParams > & rm_chassis_controllers::BipedalController::getChassisGeometryParams ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getChassisState()

const ChassisState & rm_chassis_controllers::BipedalController::getChassisState ( )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getCoeffs()

Eigen::Matrix< double, 4, CONTROL_DIM *STATE_DIM > rm_chassis_controllers::BipedalController::getCoeffs ( )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getCompleteStand()

bool rm_chassis_controllers::BipedalController::getCompleteStand ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getControlParams()

const std::shared_ptr< ControlParams > & rm_chassis_controllers::BipedalController::getControlParams ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getDefaultLegLength()

double rm_chassis_controllers::BipedalController::getDefaultLegLength ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getDown5cmStairFlag()

bool rm_chassis_controllers::BipedalController::getDown5cmStairFlag ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getJumpCmd()

double rm_chassis_controllers::BipedalController::getJumpCmd ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getLegCmd()

double rm_chassis_controllers::BipedalController::getLegCmd ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getLegState()

LegState & rm_chassis_controllers::BipedalController::getLegState ( Side side )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getLegThetaOffset()

double rm_chassis_controllers::BipedalController::getLegThetaOffset ( const double & leg_len )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getLegThresholdParams()

const std::shared_ptr< LegStateThresholdParams > & rm_chassis_controllers::BipedalController::getLegThresholdParams ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getModelParams()

const std::shared_ptr< ModelParams > & rm_chassis_controllers::BipedalController::getModelParams ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getMoveFlag()

bool rm_chassis_controllers::BipedalController::getMoveFlag ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getOverturn()

bool rm_chassis_controllers::BipedalController::getOverturn ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getRecoveryLegSpdTurnback()

bool rm_chassis_controllers::BipedalController::getRecoveryLegSpdTurnback ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getStateChange()

bool rm_chassis_controllers::BipedalController::getStateChange ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ getVelCmd()

geometry_msgs::Vector3 rm_chassis_controllers::BipedalController::getVelCmd ( )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ init()

bool rm_chassis_controllers::BipedalController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh )

override

◆ moveJoint()

void rm_chassis_controllers::BipedalController::moveJoint	(	const ros::Time &	time,
		const ros::Duration &	period )

overridevirtual

Implements rm_chassis_controllers::ChassisBase< rm_control::RobotStateInterface, hardware_interface::ImuSensorInterface, hardware_interface::EffortJointInterface >.

◆ pubDebugData()

void rm_chassis_controllers::BipedalController::pubDebugData	(	const std::string &	name,
		double	value )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ pubLegLenStatus()

void rm_chassis_controllers::BipedalController::pubLegLenStatus ( const bool & upstair_flag )

overridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ pubLQRStatus()

void rm_chassis_controllers::BipedalController::pubLQRStatus	(	Eigen::Matrix< double, STATE_DIM, 1 >	left_error,
		Eigen::Matrix< double, STATE_DIM, 1 >	right_error,
		Eigen::Matrix< double, STATE_DIM, 1 >	left_ref,
		Eigen::Matrix< double, STATE_DIM, 1 >	right_ref,
		Eigen::Matrix< double, CONTROL_DIM, 1 >	u_left,
		Eigen::Matrix< double, CONTROL_DIM, 1 >	u_right,
		Eigen::Matrix< double, CONTROL_DIM, 1 >	F_leg_,
		const bool	unstick[2] ) const

overridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ pubState()

void rm_chassis_controllers::BipedalController::pubState ( )

overridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setCompleteStand()

void rm_chassis_controllers::BipedalController::setCompleteStand ( bool state )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setDown5cmStairFlag()

void rm_chassis_controllers::BipedalController::setDown5cmStairFlag ( bool flag )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setJumpCmd()

void rm_chassis_controllers::BipedalController::setJumpCmd ( bool cmd )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setMode()

void rm_chassis_controllers::BipedalController::setMode ( int mode )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setMoveFlag()

void rm_chassis_controllers::BipedalController::setMoveFlag ( const bool & move_flag )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setRecoveryLegSpdTurnback()

void rm_chassis_controllers::BipedalController::setRecoveryLegSpdTurnback ( bool recovery_leg_spd_turnback )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ setStateChange()

void rm_chassis_controllers::BipedalController::setStateChange ( bool state )

inlineoverridevirtual

Implements rm_chassis_controllers::BipedalControllerInterface.

◆ stopping()

void rm_chassis_controllers::BipedalController::stopping ( const ros::Time & time )

override

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

rm_chassis_controllers/include/rm_chassis_controllers/bipedal_wheel_controller/controller.h
rm_chassis_controllers/src/bipedal_wheel_controller/controller.cpp

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ BipedalController()

Member Function Documentation

◆ clearRecoveryFlag()

◆ clearStatus()

◆ f_spring_force()

◆ getBaseState()

◆ getBiasParams()

◆ getChassisGeometryParams()

◆ getChassisState()

◆ getCoeffs()

◆ getCompleteStand()

◆ getControlParams()

◆ getDefaultLegLength()

◆ getDown5cmStairFlag()

◆ getJumpCmd()

◆ getLegCmd()

◆ getLegState()

◆ getLegThetaOffset()

◆ getLegThresholdParams()

◆ getModelParams()

◆ getMoveFlag()

◆ getOverturn()

◆ getRecoveryLegSpdTurnback()

◆ getStateChange()

◆ getVelCmd()

◆ init()

◆ moveJoint()

◆ pubDebugData()

◆ pubLegLenStatus()

◆ pubLQRStatus()

◆ pubState()

◆ setCompleteStand()

◆ setDown5cmStairFlag()

◆ setJumpCmd()

◆ setMode()

◆ setMoveFlag()

◆ setRecoveryLegSpdTurnback()

◆ setStateChange()

◆ stopping()