|
| | ForceControl () |
| virtual | ~ForceControl () |
| int | fcEnable () |
| | Start force control
|
| int | fcDisable () |
| | End force control
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| bool | isFcEnabled () |
| | Check if force control is enabled
|
| int | setTargetForce (const std::vector< double > &feature, const std::vector< bool > &compliance, const std::vector< double > &wrench, const std::vector< double > &limits, TaskFrameType type=TaskFrameType::FRAME_FORCE) |
| | Set force control reference (target) value
|
| int | setDynamicModel1 (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale) |
| | Set force control dynamics model
|
| DynamicsModel | fcCalDynamicModel (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale) |
| | Calculate force control dynamics model
|
| int | setDynamicModelSearch (const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale) |
| | Set force control dynamics model for hole searching scenario
|
| int | setDynamicModelInsert (const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale) |
| | Set force control dynamics model for insertion/extraction scenario
|
| int | setDynamicModelContact (const std::vector< double > &env_stiff, const std::vector< double > &damp_scale, const std::vector< double > &stiff_scale) |
| | Set force control dynamics model for contact scenario
|
| int | setDynamicModel (const std::vector< double > &m, const std::vector< double > &d, const std::vector< double > &k) |
| | Set force control dynamics model
|
| int | fcSetSensorThresholds (const std::vector< double > &thresholds) |
| | Set force control thresholds
|
| int | fcSetSensorLimits (const std::vector< double > &limits) |
| | Set force control maximum force limits
|
| std::vector< double > | getFcSensorThresholds () |
| | Get force control thresholds
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| std::vector< double > | getFcSensorLimits () |
| | Get maximum force limits
|
| DynamicsModel | getDynamicModel () |
| | Get force control dynamics model
|
| int | setCondForce (const std::vector< double > &min, const std::vector< double > &max, bool outside, double timeout) |
| | Set force control termination condition: Force.
|
| int | setCondOrient (const std::vector< double > &frame, double max_angle, double max_rot, bool outside, double timeout) |
| | setCondOrient is used to set up an end condition for the tool orientation.
|
| int | setCondPlane (const std::vector< double > &plane, double timeout) |
| | Specify a valid force control plane, x-y plane, z direction is valid
|
| int | setCondCylinder (const std::vector< double > &axis, double radius, bool outside, double timeout) |
| | Specify a valid force control cylinder by providing the central axis and cylinder radius, and specify whether the inside or outside of the cylinder is valid.
|
| int | setCondSphere (const std::vector< double > ¢er, double radius, bool outside, double timeout) |
| | Specify a valid force control sphere by providing the center and radius, and specify whether the inside or outside of the sphere is valid.
|
| int | setCondTcpSpeed (const std::vector< double > &min, const std::vector< double > &max, bool outside, double timeout) |
| | setCondTcpSpeed is used to setup an end condition for the TCP speed.
|
| int | setCondDistance (double distance, double timeout) |
| | Force control termination condition - distance
|
| int | setCondAdvanced (const std::string &type, const std::vector< double > &args, double timeout) |
| | Advanced force control termination condition
|
| int | setCondActive () |
| | Activate force control termination condition
|
| bool | isCondFullfiled () |
| | Check if the force control termination condition has been fulfilled
|
| int | setSupvForce (const std::vector< double > &min, const std::vector< double > &max) |
| | setSupvForce is used to set up force supervision in Force Control.
|
| int | setSupvOrient (const std::vector< double > &frame, double max_angle, double max_rot, bool outside) |
| | setSupvOrient is used to set up an supervision for the tool orientation.
|
| int | setSupvPosBox (const std::vector< double > &frame, const Box &box) |
| | setSupvPosBox is used to set up position supervision in Force Control.
|
| int | setSupvPosCylinder (const std::vector< double > &frame, const Cylinder &cylinder) |
| int | setSupvPosSphere (const std::vector< double > &frame, const Sphere &sphere) |
| int | setSupvReoriSpeed (const std::vector< double > &speed_limit, bool outside, double timeout) |
| | setSupvReoriSpeed is used to set up reorientation speed supervision in Force Control.
|
| int | setSupvTcpSpeed (const std::vector< double > &speed_limit, bool outside, double timeout) |
| | setSupvTcpSpeed is used to set up TCP speed supervision in Force Control.
|
| int | setLpFilter (const std::vector< double > &cutoff_freq) |
| | Set low-pass filter
|
| int | resetLpFilter () |
| | Reset low-pass filter
|
| int | speedChangeEnable (double ref_force) |
| | The speedChangeEnable is used to activate FC SpeedChange function with desired reference and recover behavior.
|
| int | speedChangeDisable () |
| | Deactivate FC SpeedChange function.
|
| int | speedChangeTune (int speed_levels, double speed_ratio_min) |
| | speedChangeTune is used to set FC SpeedChange system parameters to a new value.
|
| int | setDamping (const std::vector< double > &damping, double ramp_time) |
| | setDamping is used to tune the damping in the force control coordinate systems.
|
| int | resetDamping () |
| | Reset damping parameters
|
| int | softFloatEnable () |
| | Enable soft float function.
|
| int | softFloatDisable () |
| | Disable soft float function.
|
| bool | isSoftFloatEnabled () |
| | Returns whether soft float is enabled
|
| int | setSoftFloatParams (bool joint_space, const std::vector< bool > &select, const std::vector< double > &stiff_percent, const std::vector< double > &stiff_damp_ratio, const std::vector< double > &force_threshold, const std::vector< double > &force_limit) |
| | Set soft float parameters
|
| int | toolContact (const std::vector< bool > &direction) |
| | Detect contact between the tool and external objects
|
| std::vector< double > | getActualJointPositionsHistory (int steps) |
1.16.1