1 #ifndef CONTACT_CONTROLLER_H 2 #define CONTACT_CONTROLLER_H 4 #include "OperationalSpaceController.h" 5 #include "JointTrackingController.h" 6 #include <KrisLibrary/robotics/TorqueSolver.h> 13 void SetGravity(
const Vector3& gravity);
15 void SetContactEstimate(
const ContactFormation& contacts,Real penetrationWeight=100);
17 void SetFlatContactEstimate(Real kFriction,Real penetrationWeight=100,Real tol=1e-3);
19 void SenseContactEstimate(Real kFriction,Real penetrationWeight=100);
21 void SetTorqueRegularization(Real regularizationFactor);
22 void DesiredToAccel(Real dt,
const Config& qdes,
const Vector& dqdes,Vector& ddqdes);
24 virtual void Update(Real dt);
26 virtual bool ReadState(File& f);
27 virtual bool WriteState(File& f)
const;
29 SmartPointer<JointTrackingController> base;
31 Config qdes_last,dqdes_last;
The main robot type used in RobotSim.
Definition: Robot.h:79
A combination of multiple "tasks" that define a weighted optimization objective for the joint torques...
Definition: OperationalSpaceController.h:90
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:27