Controllers

class itmobotics_sim.utils.controllers.EEForceHybrideToEEVelocityController(robot, selected_axis, stiffnes, ref_basis='world')[source]

Bases: ExternalController

_summary_

Parameters:

  • robot (Robot) – _description_

  • selected_axis (np.ndarray) – _description_

  • stiffnes (np.ndarray) – _description_

  • ref_basis (str, optional) – _description_. Defaults to ‘world’.

calc_control(target_motion)[source]
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

generate_square_selection_matrix()[source]

_summary_

Parameters:

allow_moves (np.ndarray) – _description_

Returns:

_description_

Return type:

Tuple[np.ndarray, np.ndarray]

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.EEPositionToEEVelocityController(robot)[source]

Bases: ExternalController

_summary_

Parameters:

robot (Robot) – _description_

calc_control(target_motion)[source]
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.EEVelocityToJointVelocityController(robot)[source]

Bases: ExternalController

_summary_

Parameters:

robot (Robot) – _description_

calc_control(target_motion)[source]

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.ExternalController(rob, robot_controller_type)[source]

Bases: ABC

_summary_

Parameters:

  • rob (Robot) – _description_

  • robot_controller_type (str) – _description_

abstract calc_control(target_motion)[source]
Return type:

bool

connect_controller(controller)[source]

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)[source]

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.JointPositionsController(robot)[source]

Bases: SimpleController

_summary_

Parameters:

robot (Robot) – _description_

calc_control(target_motion)
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.JointTorquesController(robot)[source]

Bases: SimpleController

_summary_

Parameters:

robot (Robot) – _description_

calc_control(target_motion)
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.JointVelocitiesController(robot)[source]

Bases: SimpleController

_summary_

Parameters:

robot (Robot) – _description_

calc_control(target_motion)
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.MPIDController(P, I, D, dt)[source]

Bases: VectorController

_summary_

Parameters:

  • P (np.ndarray) – P coefficient

  • I (np.ndarray) – I coefficient

  • D (np.ndarray) – D coefficient

  • dt (float) – time step size

property D
property I
property P
reset()[source]

reset controller internal values

u(err)[source]

calculate control

Parameters:

err (np.ndarray) – error to aim

Return type:

float

class itmobotics_sim.utils.controllers.SimpleController(rob, robot_controller_type)[source]

Bases: ExternalController

_summary_

Parameters:

ExternalController (_type_) – _description_

calc_control(target_motion)[source]
Return type:

bool

connect_controller(controller)

_summary_

Parameters:

controller (ExternalController) – _description_

send_control_to_robot(target_motion)

_summary_

Parameters:

target_motion (Motion) – _description_

Returns:

_description_

Return type:

bool

class itmobotics_sim.utils.controllers.VectorController[source]

Bases: ABC

_summary_

abstract reset()[source]
abstract u(err)[source]