#include <mc_control/mc_global_controller.h>

Classes
struct	GlobalConfiguration
	Store the controller configuration. More...

Public Types
using	QuaternionMapAllocator = Eigen::aligned_allocator< std::pair< const std::string, Eigen::Quaterniond > >

using	QuaternionMap = std::map< std::string, Eigen::Quaterniond, std::less< std::string >, QuaternionMapAllocator >

Public Member Functions
	MCGlobalController (const std::string &conf="", std::shared_ptr< mc_rbdyn::RobotModule > rm=nullptr)
	Create the global controller. More...

	MCGlobalController (const GlobalConfiguration &conf)
	Create the global controller with an existing GlobalConfiguration instance. More...

	~MCGlobalController ()
	Destructor. More...

std::vector< std::string >	enabled_controllers () const
	Returns a list of enabled controllers. More...

std::vector< std::string >	loaded_controllers () const
	Returns a list of all the loaded controllers, whether they are enabled or not. More...

std::vector< std::string >	loaded_robots () const
	Returns a list of all the loaded robots, whether they are enabled or not. More...

std::shared_ptr< mc_rbdyn::RobotModule >	get_robot_module ()
	Returns the main robot module. More...

std::string	current_controller () const
	Returns the name of the current controller. More...

void	init (const std::vector< double > &initq)
	Initialize the default controller with the given configuration. More...

void	init (const std::vector< double > &initq, const std::array< double, 7 > &initAttitude)
	Initialize robot attitude from encoders and the floating base attitude. More...

void	init (const std::vector< double > &initq, const sva::PTransformd &initAttitude)
	Initialize robot attitude from encoders and the floating base attitude. More...

void	init (const std::map< std::string, std::vector< double >> &initqs={}, const std::map< std::string, sva::PTransformd > &initAttitudes={})
	Initialize multiple robots to the given configuration and attitude. More...

void	reset (const std::map< std::string, std::vector< double >> &resetqs={}, const std::map< std::string, sva::PTransformd > &resetAttitudes={})
	Fully reset the current controller to the given initial state. More...

bool	run ()
	Runs one step of the controller. More...

ControllerServer &	server ()
	Access the server. More...

MCController &	controller () noexcept
	Access the current controller. More...

const MCController &	controller () const noexcept
	Const access to current controller. More...

double	timestep () const
	Get the controller timestep. More...

const std::vector< std::string > &	ref_joint_order ()
	Access the reference joint order. More...

const GlobalConfiguration &	configuration () const
	Access the global controller configuration. More...

void	add_controller_module_paths (const std::vector< std::string > &paths)
	Add the given directories to the controller search path. More...

bool	AddController (const std::string &name)
	Add a controller to the enabled list. More...

bool	AddController (const std::string &name, std::shared_ptr< mc_control::MCController > controller)
	Add an already created controller to the enabled list. More...

bool	EnableController (const std::string &name)
	Switch to the requested controller. More...

void	refreshLog ()
	Create a new log file for the current controller. More...

Sensing
These functions are used to communicate sensors' information to the controller. Each function sets the requested sensor to both the control robots() instance and the real realRobots() instance.
void	setSensorPosition (const Eigen::Vector3d &pos)
	Sets the main robot position sensor (control+real) More...

void	setSensorPosition (const std::string &robotName, const Eigen::Vector3d &pos)
	Sets a robot's position sensor (control+real) More...

void	setSensorPositions (const std::map< std::string, Eigen::Vector3d > &poses)
	Set multiple body sensors' position for the main robot (control+real) More...

void	setSensorPositions (const std::string &robotName, const std::map< std::string, Eigen::Vector3d > &poses)
	Set multiple body sensors' position for the specified robot (control+real) More...

void	setSensorOrientation (const Eigen::Quaterniond &ori)
	Sets the main robot orientation sensor (control + real) More...

void	setSensorOrientation (const std::string &robotName, const Eigen::Quaterniond &ori)
	Sets the main robot orientation sensor (control + real) More...

void	setSensorOrientations (const QuaternionMap &oris)
	Set multiple body sensors' orientation for the main robot (control+real) More...

void	setSensorOrientations (const std::string &robotName, const QuaternionMap &oris)
	Set multiple body sensors' orientation for the specified robot (control+real) More...

void	setSensorLinearVelocity (const Eigen::Vector3d &vel)
	Sets the main robot linear velocity sensor (control+real) More...

void	setSensorLinearVelocity (const std::string &robotName, const Eigen::Vector3d &vel)
	Sets the specified robot linear velocity sensor (control+real) More...

void	setSensorLinearVelocities (const std::map< std::string, Eigen::Vector3d > &linearVels)
	Set multiple body sensor's linear velocities for the main robot (control+real) More...

void	setSensorLinearVelocities (const std::string &robotName, const std::map< std::string, Eigen::Vector3d > &linearVels)
	Set multiple body sensor's linear velocities for the specified robot (control+real) More...

void	setSensorAngularVelocity (const Eigen::Vector3d &vel)
	Sets the main robot angular velocity sensor (control+real) More...

void	setSensorAngularVelocity (const std::string &robotName, const Eigen::Vector3d &vel)
	Sets the specified robot angular velocity sensor (control+real) More...

void	setSensorAngularVelocities (const std::map< std::string, Eigen::Vector3d > &angularVels)
	Set multiple body sensor's angular velocities for the main robot (control + real) More...

void	setSensorAngularVelocities (const std::string &robotName, const std::map< std::string, Eigen::Vector3d > &angularVels)
	Set multiple body sensor's angular velocities for the specified robot (control + real) More...

MC_RTC_DEPRECATED void	setSensorAcceleration (const Eigen::Vector3d &acc)
	Sets the main robot acceleration (control+real) More...

MC_RTC_DEPRECATED void	setSensorAccelerations (const std::map< std::string, Eigen::Vector3d > &accels)

void	setSensorLinearAcceleration (const Eigen::Vector3d &acc)
	Sets the main robot linear acceleration (control+real) More...

void	setSensorLinearAcceleration (const std::string &robotName, const Eigen::Vector3d &acc)
	Sets the specified robot linear acceleration (control+real) More...

void	setSensorLinearAccelerations (const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' linear acceleration for a given robot for the main robot (control+real) More...

void	setSensorLinearAccelerations (const std::string &robotName, const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' linear acceleration for a given robot for the specified robot (control+real) More...

void	setSensorAngularAcceleration (const Eigen::Vector3d &acc)
	Sets the main robot angular acceleration (control+real) More...

void	setSensorAngularAcceleration (const std::string &robotName, const Eigen::Vector3d &acc)
	Sets the specified robot angular acceleration (control+real) More...

void	setSensorAngularAccelerations (const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' angular acceleration for a given robot for the main robot (control+real) More...

void	setSensorAngularAccelerations (const std::string &robotName, const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' angular acceleration for the specifiedrobot (control+real) More...

void	setEncoderValues (const std::vector< double > &eValues)
	Sets the main robot actual joints' values (control+real) More...

void	setEncoderValues (const std::string &robotName, const std::vector< double > &eValues)

void	setEncoderVelocities (const std::vector< double > &eVelocities)
	Sets the main robot's actual joint velocities (control+real) More...

void	setEncoderVelocities (const std::string &robotName, const std::vector< double > &eVelocities)
	Sets the main robot position sensor (control+real) More...

void	setJointTorques (const std::vector< double > &tValues)
	Sets the main robot's actual joint torques (control+real) More...

void	setJointTorques (const std::string &robotName, const std::vector< double > &tValues)

void	setWrenches (const std::map< std::string, sva::ForceVecd > &wrenches)
	Force sensors' readings provided by the sensors (sets control+real) More...

void	setWrenches (const std::string &robotName, const std::map< std::string, sva::ForceVecd > &wrenches)
	Force sensors' readings for the specified robot (control + real) More...

MC_RTC_DEPRECATED void	setWrenches (unsigned int robotIndex, const std::map< std::string, sva::ForceVecd > &wrenches)

void	setJointMotorTemperature (const std::string &joint, double temperature)
	Motor temperature reading provided by the JointSensor for the main robot (sets control+real) More...

void	setJointMotorTemperature (const std::string &robotName, const std::string &joint, double temperature)
	Motor temperature reading provided by the JointSensor for the specified robot (sets control+real) More...

void	setJointMotorTemperatures (const std::map< std::string, double > &temperatures)
	Motor temperature readings provided by multiple JointSensors for the main robot (sets control+real) More...

void	setJointMotorTemperatures (const std::string &robotName, const std::map< std::string, double > &temperatures)
	Motor temperature readings provided by multiple JointSensors for the specified robot (sets control+real) More...

void	setJointDriverTemperature (const std::string &joint, double temperature)
	Driver temperature reading provided by the JointSensor for the main robot (sets control+real) More...

void	setJointDriverTemperature (const std::string &robotName, const std::string &joint, double temperature)
	Driver temperature reading provided by the JointSensor for the specified robot (sets control+real) More...

void	setJointDriverTemperatures (const std::map< std::string, double > &temperatures)
	Driver temperature readings provided by multiple JointSensors for the main robot (sets control+real) More...

void	setJointDriverTemperatures (const std::string &robotName, const std::map< std::string, double > &temperatures)
	Driver temperature readings provided by multiple JointSensors for the specified robot (sets control+real) More...

void	setJointMotorCurrent (const std::string &joint, double current)
	Motor current reading provided by the JointSensor for the main robot (sets control+real) More...

void	setJointMotorCurrent (const std::string &robotName, const std::string &joint, double current)
	Motor current reading provided by the JointSensor for the specified robot (sets control+real) More...

void	setJointMotorCurrents (const std::map< std::string, double > &currents)
	Motor current readings provided by multiple JointSensors for the main robot (sets control+real) More...

void	setJointMotorCurrents (const std::string &robotName, const std::map< std::string, double > &currents)
	Motor current readings provided by multiple JointSensors for the specified robot (sets control+real) More...

void	setJointMotorStatus (const std::string &joint, bool status)
	Motor status provided by the JointSensor for the main robot (sets control+real) More...

void	setJointMotorStatus (const std::string &robotName, const std::string &joint, bool status)
	Motor status provided by the JointSensor for the specified robot (sets control+real) More...

void	setJointMotorStatuses (const std::map< std::string, bool > &statuses)
	Motor status provided by multiple JointSensors for the main robot (sets control+real) More...

void	setJointMotorStatuses (const std::string &robotName, const std::map< std::string, bool > &statuses)
	Motor status provided by multiple JointSensors for the specified robot (sets control+real) More...

Grippers
These functions can be used to manipulate the grippers through the global controller interface
void	setGripperTargetQ (const std::string &robot, const std::string &name, const std::vector< double > &q)
	Set the opening target(s) for a given robot/gripper. More...

void	setGripperOpenPercent (const std::string &robot, double pOpen)
	Set the gripper opening percentage for all grippers in a robot. More...

void	setGripperOpenPercent (const std::string &robot, const std::string &name, double pOpen)
	Set the gripper opening percentage for a given robot/gripper. More...

Services
These functions acts as a proxy between the caller and the current controller.
bool	GoToHalfSitPose_service ()
	Returns to half-sit pose after an experiment. More...

bool	GoToHalfSitPose ()
	See mc_rtc::MCGlobalController::GoToHalfSitPose_service. More...

Public Attributes
bool	running = false
	Returns true if the controller is running. More...

Protected Member Functions
Internal sensing helpers
These functions only set the sensor(s) for the provided robot reference. They are expected to be called twice: once for both the robot() and once for the corresponding realRobot() instances.
void	setSensorPositions (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &poses)
	Set multiple body sensors' position for a given robot. More...

void	setSensorAngularAccelerations (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' angular acceleration for a given robot. More...

void	setSensorLinearAccelerations (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &accels)
	Set multiple body sensors' linear acceleration for a given robot. More...

MC_RTC_DEPRECATED void	setSensorAccelerations (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &accels)

void	setSensorOrientations (mc_rbdyn::Robot &robot, const QuaternionMap &oris)
	Set multiple body sensors' orientation for a given robot. More...

void	setSensorLinearVelocities (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &linearVels)
	Set multiple body sensor's linear velocities for a given robot. More...

void	setSensorAngularVelocities (mc_rbdyn::Robot &robot, const std::map< std::string, Eigen::Vector3d > &angularVels)
	Set multiple body sensor's angular velocities for a given robot. More...

Member Typedef Documentation

◆ QuaternionMap

using mc_control::MCGlobalController::QuaternionMap = std::map<std::string, Eigen::Quaterniond, std::less<std::string>, QuaternionMapAllocator>

◆ QuaternionMapAllocator

using mc_control::MCGlobalController::QuaternionMapAllocator = Eigen::aligned_allocator<std::pair<const std::string, Eigen::Quaterniond> >

Constructor & Destructor Documentation

◆ MCGlobalController() [1/2]

mc_control::MCGlobalController::MCGlobalController	(	const std::string &	conf = `""`,
		std::shared_ptr< mc_rbdyn::RobotModule >	rm = `nullptr`
	)

Create the global controller.

The global controller is in charge of handling incoming data (sensors, encoders...), passing it to the Controller instance and finally hand out the result to the simulation/robot.

An additional configuration file can be passed at construction but multiple configuration files are read by default:

a global configuration file read from INSTALL_PREFIX/etc/mc_rtc.conf
a global configuration file read from $HOME/.config/mc_rtc/mc_rtc.conf

The configuration provided overrides settings in the local configuration which overrides settings in the global configuration

Global settings include the controller timestep, the main robot, publication and logging options.

For each controller a specific setting file will be loaded from:

$CONTROLLER_INSTALL_PREFIX/etc/$CONTROLLER_NAME.conf
$HOME/.config/mc_rtc/controllers/$CONTROLLER_NAME.conf

Global settings found in controller-specific configuration files will be discarded.

Note: On Windows, user configuration files are retrieved from $APPDATA/mc_rtc

Parameters

conf	Additional configuration to load

◆ MCGlobalController() [2/2]

mc_control::MCGlobalController::MCGlobalController ( const GlobalConfiguration & conf )

Create the global controller with an existing GlobalConfiguration instance.

◆ ~MCGlobalController()

mc_control::MCGlobalController::~MCGlobalController ( )

Destructor.

Member Function Documentation

◆ add_controller_module_paths()

void mc_control::MCGlobalController::add_controller_module_paths ( const std::vector< std::string > & paths )

Add the given directories to the controller search path.

Calling this function with the same arguments multiple times effectively refresh the loaded controller list

e.g. the following code will rescan all directories

add_controller_module_paths(configuration().controller_module_paths));

◆ AddController() [1/2]

bool mc_control::MCGlobalController::AddController ( const std::string & name )

Add a controller to the enabled list.

This call enables a controller that was not enabled but loaded. If the provided name does not exist then it does nothing and returns false. Otherwise, the controller is created, added to the enabled map and the function returns true.

Parameters

name	Name of the controller to add

◆ AddController() [2/2]

bool mc_control::MCGlobalController::AddController	(	const std::string &	name,
		std::shared_ptr< mc_control::MCController >	controller
	)

Add an already created controller to the enabled list.

This call adds a controller that was created through another mean than MCGlobalController internal mechanism.

The function returns false and does nothing if name is already among the enabled controllers or if controller is a null pointer.

Parameters

name	Name of the controller to add
controller	Controller to add

◆ configuration()

const GlobalConfiguration& mc_control::MCGlobalController::configuration ( ) const

Access the global controller configuration.

◆ controller() [1/2]

const MCController& mc_control::MCGlobalController::controller ( ) const

inlinenoexcept

Const access to current controller.

◆ controller() [2/2]

MCController& mc_control::MCGlobalController::controller ( )

inlinenoexcept

Access the current controller.

◆ current_controller()

std::string mc_control::MCGlobalController::current_controller ( ) const

Returns the name of the current controller.

◆ EnableController()

bool mc_control::MCGlobalController::EnableController ( const std::string & name )

Switch to the requested controller.

If the requested controller is not enabled, does not exist or is already running then this call has no effect. Otherwise, it will trigger a controller switch at the next run call.

Parameters

name	Name of the new controller to load

◆ enabled_controllers()

std::vector<std::string> mc_control::MCGlobalController::enabled_controllers ( ) const

Returns a list of enabled controllers.

◆ get_robot_module()

std::shared_ptr<mc_rbdyn::RobotModule> mc_control::MCGlobalController::get_robot_module ( )

Returns the main robot module.

◆ GoToHalfSitPose()

bool mc_control::MCGlobalController::GoToHalfSitPose ( )

See mc_rtc::MCGlobalController::GoToHalfSitPose_service.

◆ GoToHalfSitPose_service()

bool mc_control::MCGlobalController::GoToHalfSitPose_service ( )

Returns to half-sit pose after an experiment.

This service enables the HalfSitPose controller which only drives the robot back to half-sitting posture while avoiding auto-collisions

◆ init() [1/4]

void mc_control::MCGlobalController::init	(	const std::map< std::string, std::vector< double >> &	initqs = `{}`,
		const std::map< std::string, sva::PTransformd > &	initAttitudes = `{}`
	)

Initialize multiple robots to the given configuration and attitude.

If some robots' configuration or position is not provided then the robot module data is used to initialize the robot.

Parameters

initqs	Initial joints configuration for each robot, for each robot this data is expected in the corresponding ref_joint_order
initAttitudes	Initial world position for each robot

◆ init() [2/4]

void mc_control::MCGlobalController::init ( const std::vector< double > & initq )

Initialize the default controller with the given configuration.

The initial joint configuration provided as the initq argument.
The initial floating base attitude is set from body sensors or the robot module depending on your controller's configuration (default: robot module)

InitAttitudeFromSensor: true,

InitAttitudeSensor: FloatingBase

Parameters

initq initial joints configuration

Note: When implementing an interface, the sensors must be set prior to calling this method.

Exceptions

logical_exception if the bodysensor does not exist or the joint configuration does not have the same size as the reference joint order

◆ init() [3/4]

void mc_control::MCGlobalController::init	(	const std::vector< double > &	initq,
		const std::array< double, 7 > &	initAttitude
	)

Initialize robot attitude from encoders and the floating base attitude.

Parameters

initq	Initial joints configuration
initAttitude	Attitude of the floating base provided as a quaternion [qw, qx, qy, qz, tx, ty, tz]

◆ init() [4/4]

void mc_control::MCGlobalController::init	(	const std::vector< double > &	initq,
		const sva::PTransformd &	initAttitude
	)

Initialize robot attitude from encoders and the floating base attitude.

Parameters

initq	Initial joints configuration
initAttitude	Attitude of the floating base

◆ loaded_controllers()

std::vector<std::string> mc_control::MCGlobalController::loaded_controllers ( ) const

Returns a list of all the loaded controllers, whether they are enabled or not.

◆ loaded_robots()

std::vector<std::string> mc_control::MCGlobalController::loaded_robots ( ) const

Returns a list of all the loaded robots, whether they are enabled or not.

◆ ref_joint_order()

const std::vector<std::string>& mc_control::MCGlobalController::ref_joint_order ( )

Access the reference joint order.

This is provided by mc_rbdyn::RobotModule and represents the joint's order in the native control system of the robot.

◆ refreshLog()

void mc_control::MCGlobalController::refreshLog ( )

Create a new log file for the current controller.

The purpose is to split the log file for long-running controller, therefore this does not restart the timer of the controller so multiple log files could be stitched together.

◆ reset()

void mc_control::MCGlobalController::reset	(	const std::map< std::string, std::vector< double >> &	resetqs = `{}`,
		const std::map< std::string, sva::PTransformd > &	resetAttitudes = `{}`
	)

Fully reset the current controller to the given initial state.

This deletes then re-create the current controller so that it is started from scratch.

If some robots' configuration or position is not provided then the robot module data is used to initialize the robot.

Parameters

initqs	Initial joints configuration for each robot, for each robot this data is expected in the corresponding ref_joint_order
initAttitudes	Initial world position for each robot

◆ run()

bool mc_control::MCGlobalController::run ( )

Runs one step of the controller.

Returns: True if the current controller succeeded, false otherwise

◆ server()

ControllerServer& mc_control::MCGlobalController::server ( )

Access the server.

◆ setEncoderValues() [1/2]

void mc_control::MCGlobalController::setEncoderValues	(	const std::string &	robotName,
		const std::vector< double > &	eValues
	)

Set actual joint values for the specified robot (control + real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
eValues	Actual joint values provided by encoders

Exceptions

If	the specified robot does not exist

◆ setEncoderValues() [2/2]

void mc_control::MCGlobalController::setEncoderValues ( const std::vector< double > & eValues )

Sets the main robot actual joints' values (control+real)

Parameters

eValues Actual joint values provided by encoders

Note: It is expected that these values follow the order given by ref_joint_order

◆ setEncoderVelocities() [1/2]

void mc_control::MCGlobalController::setEncoderVelocities	(	const std::string &	robotName,
		const std::vector< double > &	eVelocities
	)

Sets the main robot position sensor (control+real)

Parameters

pos	Position given by a sensor

Exceptions

If	the robot does not have any body sensor

◆ setEncoderVelocities() [2/2]

void mc_control::MCGlobalController::setEncoderVelocities ( const std::vector< double > & eVelocities )

Sets the main robot's actual joint velocities (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
eVelocities	Actual joint velocities

Note: It is expected that these values follow the order given by ref_joint_order

◆ setGripperOpenPercent() [1/2]

void mc_control::MCGlobalController::setGripperOpenPercent	(	const std::string &	robot,
		const std::string &	name,
		double	pOpen
	)

Set the gripper opening percentage for a given robot/gripper.

Parameters

robot	Name of the robot
name	Name of the gripper
pOpen	Opening percentage (0: closed, 1: open)

◆ setGripperOpenPercent() [2/2]

void mc_control::MCGlobalController::setGripperOpenPercent	(	const std::string &	robot,
		double	pOpen
	)

Set the gripper opening percentage for all grippers in a robot.

Parameters

robot	Name of the robot
pOpen	Opening percentage (0: closed, 1: open)

◆ setGripperTargetQ()

void mc_control::MCGlobalController::setGripperTargetQ	(	const std::string &	robot,
		const std::string &	name,
		const std::vector< double > &	q
	)

Set the opening target(s) for a given robot/gripper.

Parameters

robot	Name of the robot
name	Name of the gripper
q	Active joints values

◆ setJointDriverTemperature() [1/2]

void mc_control::MCGlobalController::setJointDriverTemperature	(	const std::string &	joint,
		double	temperature
	)

Driver temperature reading provided by the JointSensor for the main robot (sets control+real)

Parameters

joint	name of the joint to which sensor is attached
temperature	driver temperature reading in Celcius

Exceptions

If	the robot does not have any JointSensor at joint

◆ setJointDriverTemperature() [2/2]

void mc_control::MCGlobalController::setJointDriverTemperature	(	const std::string &	robotName,
		const std::string &	joint,
		double	temperature
	)

Driver temperature reading provided by the JointSensor for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
joint	name of the joint to which sensor is attached
temperature	driver temperature reading in Celcius

Exceptions

If	the robot does not have any JointSensor at joint
If	the specified robot does not exist

◆ setJointDriverTemperatures() [1/2]

void mc_control::MCGlobalController::setJointDriverTemperatures ( const std::map< std::string, double > & temperatures )

Driver temperature readings provided by multiple JointSensors for the main robot (sets control+real)

Parameters

temperatures map of joint name to driver temperature in Celcius

Exceptions

If	any of the joint sensors do not exist

◆ setJointDriverTemperatures() [2/2]

void mc_control::MCGlobalController::setJointDriverTemperatures	(	const std::string &	robotName,
		const std::map< std::string, double > &	temperatures
	)

Driver temperature readings provided by multiple JointSensors for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
temperatures	map of joint name to driver temperature in Celcius

Exceptions

If	any of the joint sensors do not exist
If	the specified robot does not exist

◆ setJointMotorCurrent() [1/2]

void mc_control::MCGlobalController::setJointMotorCurrent	(	const std::string &	joint,
		double	current
	)

Motor current reading provided by the JointSensor for the main robot (sets control+real)

Parameters

joint	name of the joint to which sensor is attached
current	motor current reading in Amperes

Exceptions

If	the robot does not have any JointSensor at joint

◆ setJointMotorCurrent() [2/2]

void mc_control::MCGlobalController::setJointMotorCurrent	(	const std::string &	robotName,
		const std::string &	joint,
		double	current
	)

Motor current reading provided by the JointSensor for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
joint	name of the joint to which sensor is attached
current	motor current reading in Amperes

Exceptions

If	the robot does not have any JointSensor at joint
If	the specified robot does not exist

◆ setJointMotorCurrents() [1/2]

void mc_control::MCGlobalController::setJointMotorCurrents ( const std::map< std::string, double > & currents )

Motor current readings provided by multiple JointSensors for the main robot (sets control+real)

Parameters

currents map of joint name to motor current in Amperes

Exceptions

If	any of the joint sensors do not exist

◆ setJointMotorCurrents() [2/2]

void mc_control::MCGlobalController::setJointMotorCurrents	(	const std::string &	robotName,
		const std::map< std::string, double > &	currents
	)

Motor current readings provided by multiple JointSensors for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
currents	map of joint name to motor current in Amperes

Exceptions

If	any of the joint sensors do not exist
If	the specified robot does not exist

◆ setJointMotorStatus() [1/2]

void mc_control::MCGlobalController::setJointMotorStatus	(	const std::string &	joint,
		bool	status
	)

Motor status provided by the JointSensor for the main robot (sets control+real)

Parameters

joint	name of the joint to which sensor is attached
status	motor ON/OFF status

Exceptions

If	the robot does not have any JointSensor at joint

◆ setJointMotorStatus() [2/2]

void mc_control::MCGlobalController::setJointMotorStatus	(	const std::string &	robotName,
		const std::string &	joint,
		bool	status
	)

Motor status provided by the JointSensor for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
joint	name of the joint to which sensor is attached
status	motor ON/OFF status

Exceptions

If	the robot does not have any JointSensor at joint
If	the specified robot does not exist

◆ setJointMotorStatuses() [1/2]

void mc_control::MCGlobalController::setJointMotorStatuses ( const std::map< std::string, bool > & statuses )

Motor status provided by multiple JointSensors for the main robot (sets control+real)

Parameters

statuses map of joint name to motor status

Exceptions

If	any of the joint sensors do not exist

◆ setJointMotorStatuses() [2/2]

void mc_control::MCGlobalController::setJointMotorStatuses	(	const std::string &	robotName,
		const std::map< std::string, bool > &	statuses
	)

Motor status provided by multiple JointSensors for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
statuses	map of joint name to motor status

Exceptions

If	any of the joint sensors do not exist
If	the specified robot does not exist

◆ setJointMotorTemperature() [1/2]

void mc_control::MCGlobalController::setJointMotorTemperature	(	const std::string &	joint,
		double	temperature
	)

Motor temperature reading provided by the JointSensor for the main robot (sets control+real)

Parameters

joint	name of the joint to which sensor is attached
temperature	motor temperature reading in Celcius

Exceptions

If	the robot does not have any JointSensor at joint

◆ setJointMotorTemperature() [2/2]

void mc_control::MCGlobalController::setJointMotorTemperature	(	const std::string &	robotName,
		const std::string &	joint,
		double	temperature
	)

Motor temperature reading provided by the JointSensor for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
joint	name of the joint to which sensor is attached
temperature	motor temperature reading in Celcius

Exceptions

If	the robot does not have any JointSensor at joint
If	the specified robot does not exist

◆ setJointMotorTemperatures() [1/2]

void mc_control::MCGlobalController::setJointMotorTemperatures ( const std::map< std::string, double > & temperatures )

Motor temperature readings provided by multiple JointSensors for the main robot (sets control+real)

Parameters

temperatures map of joint name to motor temperature in Celcius

Exceptions

If	any of the joint sensors do not exist

◆ setJointMotorTemperatures() [2/2]

void mc_control::MCGlobalController::setJointMotorTemperatures	(	const std::string &	robotName,
		const std::map< std::string, double > &	temperatures
	)

Motor temperature readings provided by multiple JointSensors for the specified robot (sets control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
temperatures	map of joint name to motor temperature in Celcius

Exceptions

If	any of the joint sensors do not exist
If	the specified robot does not exist

◆ setJointTorques() [1/2]

void mc_control::MCGlobalController::setJointTorques	(	const std::string &	robotName,
		const std::vector< double > &	tValues
	)

Set the acutal joint torques for the specified robot (control + real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
tValues	Actual joint torques (provided by sensors)

Exceptions

If	the specified robot does not exist

◆ setJointTorques() [2/2]

void mc_control::MCGlobalController::setJointTorques ( const std::vector< double > & tValues )

Sets the main robot's actual joint torques (control+real)

Parameters

tValues Actual joint torques (provided by sensors)

Note: It is expected that these values follow the order given by ref_joint_order

◆ setSensorAcceleration()

MC_RTC_DEPRECATED void mc_control::MCGlobalController::setSensorAcceleration ( const Eigen::Vector3d & acc )

Sets the main robot acceleration (control+real)

Deprecated:: in favor of setSensorLinearAcceleration(const Eigen::Vector3d &);

◆ setSensorAccelerations() [1/2]

MC_RTC_DEPRECATED void mc_control::MCGlobalController::setSensorAccelerations ( const std::map< std::string, Eigen::Vector3d > & accels )

Deprecated:: in favor of setSensorLinearAccelerations(const std::map<std::string, Eigen::Vector3d> &);

◆ setSensorAccelerations() [2/2]

MC_RTC_DEPRECATED void mc_control::MCGlobalController::setSensorAccelerations	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	accels
	)

protected

Deprecated:: in favor of void setSensorLinearAccelerations(mc_rbdyn::Robot & robot, const std::map<std::string, Eigen::Vector3d> &);

◆ setSensorAngularAcceleration() [1/2]

void mc_control::MCGlobalController::setSensorAngularAcceleration ( const Eigen::Vector3d & acc )

Sets the main robot angular acceleration (control+real)

Parameters

acc	Angular acceleration given by a sensor

Exceptions

If	the robot does not have any body sensor

◆ setSensorAngularAcceleration() [2/2]

void mc_control::MCGlobalController::setSensorAngularAcceleration	(	const std::string &	robotName,
		const Eigen::Vector3d &	acc
	)

Sets the specified robot angular acceleration (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
acc	Angular acceleration

Exceptions

If	the specified robot does not exist
If	the robot does not have any body sensor

◆ setSensorAngularAccelerations() [1/3]

void mc_control::MCGlobalController::setSensorAngularAccelerations ( const std::map< std::string, Eigen::Vector3d > & accels )

Set multiple body sensors' angular acceleration for a given robot for the main robot (control+real)

Parameters

accels Map of body sensor names to linear accelerations

Exceptions

If	any of the body sensors do not exist in the robot

◆ setSensorAngularAccelerations() [2/3]

void mc_control::MCGlobalController::setSensorAngularAccelerations	(	const std::string &	robotName,
		const std::map< std::string, Eigen::Vector3d > &	accels
	)

Set multiple body sensors' angular acceleration for the specifiedrobot (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
accels	Map of body sensor names to linear accelerations

Exceptions

If	the specified robot does not exist
If	any of the body sensors do not exist in the robot

◆ setSensorAngularAccelerations() [3/3]

void mc_control::MCGlobalController::setSensorAngularAccelerations	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	accels
	)

protected

Set multiple body sensors' angular acceleration for a given robot.

◆ setSensorAngularVelocities() [1/3]

void mc_control::MCGlobalController::setSensorAngularVelocities ( const std::map< std::string, Eigen::Vector3d > & angularVels )

Set multiple body sensor's angular velocities for the main robot (control + real)

Parameters

angularVels map of body sensor name to angular velocity

Exceptions

If	any of the body sensors do not exist in the robot

◆ setSensorAngularVelocities() [2/3]

void mc_control::MCGlobalController::setSensorAngularVelocities	(	const std::string &	robotName,
		const std::map< std::string, Eigen::Vector3d > &	angularVels
	)

Set multiple body sensor's angular velocities for the specified robot (control + real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
angularVels	map of body sensor name to angular velocity

Exceptions

If	the specified robot does not exist
If	any of the body sensors do not exist in the robot

◆ setSensorAngularVelocities() [3/3]

void mc_control::MCGlobalController::setSensorAngularVelocities	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	angularVels
	)

protected

Set multiple body sensor's angular velocities for a given robot.

◆ setSensorAngularVelocity() [1/2]

void mc_control::MCGlobalController::setSensorAngularVelocity ( const Eigen::Vector3d & vel )

Sets the main robot angular velocity sensor (control+real)

Parameters

vel	Angular velocity given by a sensor

Exceptions

If	the robot does not have any body sensor

◆ setSensorAngularVelocity() [2/2]

void mc_control::MCGlobalController::setSensorAngularVelocity	(	const std::string &	robotName,
		const Eigen::Vector3d &	vel
	)

Sets the specified robot angular velocity sensor (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
vel	Angular velocity given by a sensor

Exceptions

If	the specified robot does not exist
If	the robot does not have any body sensor

◆ setSensorLinearAcceleration() [1/2]

void mc_control::MCGlobalController::setSensorLinearAcceleration ( const Eigen::Vector3d & acc )

Sets the main robot linear acceleration (control+real)

Parameters

acc	Linear acceleration given by a sensor

◆ setSensorLinearAcceleration() [2/2]

void mc_control::MCGlobalController::setSensorLinearAcceleration	(	const std::string &	robotName,
		const Eigen::Vector3d &	acc
	)

Sets the specified robot linear acceleration (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
acc	Linear acceleration

Exceptions

If	the specified robot does not exist
If	the robot does not have any body sensor

◆ setSensorLinearAccelerations() [1/3]

void mc_control::MCGlobalController::setSensorLinearAccelerations ( const std::map< std::string, Eigen::Vector3d > & accels )

Set multiple body sensors' linear acceleration for a given robot for the main robot (control+real)

Parameters

accels Map of body sensor names to linear accelerations

Exceptions

If	any of the body sensors do not exist in the robot

◆ setSensorLinearAccelerations() [2/3]

void mc_control::MCGlobalController::setSensorLinearAccelerations	(	const std::string &	robotName,
		const std::map< std::string, Eigen::Vector3d > &	accels
	)

Set multiple body sensors' linear acceleration for a given robot for the specified robot (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
accels	Map of body sensor names to linear accelerations

Exceptions

If	the specified robot does not exist
If	any of the body sensors do not exist in the robot

◆ setSensorLinearAccelerations() [3/3]

void mc_control::MCGlobalController::setSensorLinearAccelerations	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	accels
	)

protected

Set multiple body sensors' linear acceleration for a given robot.

◆ setSensorLinearVelocities() [1/3]

void mc_control::MCGlobalController::setSensorLinearVelocities ( const std::map< std::string, Eigen::Vector3d > & linearVels )

Set multiple body sensor's linear velocities for the main robot (control+real)

Parameters

linearVels map of BodySensor name to the corresponding velocity

Exceptions

If	any of the body sensors do not exist in the robot

◆ setSensorLinearVelocities() [2/3]

void mc_control::MCGlobalController::setSensorLinearVelocities	(	const std::string &	robotName,
		const std::map< std::string, Eigen::Vector3d > &	linearVels
	)

Set multiple body sensor's linear velocities for the specified robot (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
linearVels	map of BodySensor name to the corresponding velocity

Exceptions

If	the specified robot does not exist
If	any of the body sensors do not exist in the robot

◆ setSensorLinearVelocities() [3/3]

void mc_control::MCGlobalController::setSensorLinearVelocities	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	linearVels
	)

protected

Set multiple body sensor's linear velocities for a given robot.

◆ setSensorLinearVelocity() [1/2]

void mc_control::MCGlobalController::setSensorLinearVelocity ( const Eigen::Vector3d & vel )

Sets the main robot linear velocity sensor (control+real)

Parameters

vel	Linear velocity given by a sensor

Exceptions

If	the robot does not have any body sensor

◆ setSensorLinearVelocity() [2/2]

void mc_control::MCGlobalController::setSensorLinearVelocity	(	const std::string &	robotName,
		const Eigen::Vector3d &	vel
	)

Sets the specified robot linear velocity sensor (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
vel	Linear velocity given by a sensor

Exceptions

If	the specified robot does not exist
If	the robot does not have any body sensor

◆ setSensorOrientation() [1/2]

void mc_control::MCGlobalController::setSensorOrientation ( const Eigen::Quaterniond & ori )

Sets the main robot orientation sensor (control + real)

Parameters

ori	Orientation given by a sensor

Note: By convention, this rotation should be given from the inertial frame (i.e. a fixed frame in the real world) to a sensor frame of the robot.

Exceptions

If	the robot does not have any body sensor

◆ setSensorOrientation() [2/2]

void mc_control::MCGlobalController::setSensorOrientation	(	const std::string &	robotName,
		const Eigen::Quaterniond &	ori
	)

Sets the main robot orientation sensor (control + real)

Parameters

robotName Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.

Exceptions

If	the specified robot does not exist
If	the robot does not have any body sensor

See also: setSensorOrientation(const Eigen::Quaterniond & ori)

◆ setSensorOrientations() [1/3]

void mc_control::MCGlobalController::setSensorOrientations ( const QuaternionMap & oris )

Set multiple body sensors' orientation for the main robot (control+real)

Parameters

oris	Map of sensor name -> orientation

Exceptions

If	any of the sensors does not exist in the robot

See also: setSensorOrientation(const Eigen::Quaterniond & ori)

◆ setSensorOrientations() [2/3]

void mc_control::MCGlobalController::setSensorOrientations	(	const std::string &	robotName,
		const QuaternionMap &	oris
	)

Set multiple body sensors' orientation for the specified robot (control+real)

Parameters

robotName Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.

Exceptions

If	the specified robot does not exist
If	any of the sensors does not exist in the robot

See also: setSensorOrientation(const Eigen::Quaterniond & ori)

◆ setSensorOrientations() [3/3]

void mc_control::MCGlobalController::setSensorOrientations	(	mc_rbdyn::Robot &	robot,
		const QuaternionMap &	oris
	)

protected

Set multiple body sensors' orientation for a given robot.

◆ setSensorPosition() [1/2]

void mc_control::MCGlobalController::setSensorPosition ( const Eigen::Vector3d & pos )

Sets the main robot position sensor (control+real)

Parameters

pos	Position given by a sensor

Exceptions

If	the robot does not have any body sensor

◆ setSensorPosition() [2/2]

void mc_control::MCGlobalController::setSensorPosition	(	const std::string &	robotName,
		const Eigen::Vector3d &	pos
	)

Sets a robot's position sensor (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
pos	Position given by a sensor

Exceptions

If	the robot does not have any body sensor
If	the specified robot does not exist

◆ setSensorPositions() [1/3]

void mc_control::MCGlobalController::setSensorPositions ( const std::map< std::string, Eigen::Vector3d > & poses )

Set multiple body sensors' position for the main robot (control+real)

Parameters

poses Map of sensor name -> position

Exceptions

If	one of the sensors does not exist in the robot

◆ setSensorPositions() [2/3]

void mc_control::MCGlobalController::setSensorPositions	(	const std::string &	robotName,
		const std::map< std::string, Eigen::Vector3d > &	poses
	)

Set multiple body sensors' position for the specified robot (control+real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
poses	Map of sensor name -> position

Exceptions

If	any of the sensors does not exist in the robot
If	the specified robot does not exist

◆ setSensorPositions() [3/3]

void mc_control::MCGlobalController::setSensorPositions	(	mc_rbdyn::Robot &	robot,
		const std::map< std::string, Eigen::Vector3d > &	poses
	)

protected

Set multiple body sensors' position for a given robot.

◆ setWrenches() [1/3]

void mc_control::MCGlobalController::setWrenches ( const std::map< std::string, sva::ForceVecd > & wrenches )

Force sensors' readings provided by the sensors (sets control+real)

Parameters

wrenches map of force sensor name to wrenches

Exceptions

if	any of the force sensors do not exist

◆ setWrenches() [2/3]

void mc_control::MCGlobalController::setWrenches	(	const std::string &	robotName,
		const std::map< std::string, sva::ForceVecd > &	wrenches
	)

Force sensors' readings for the specified robot (control + real)

Parameters

robotName	Name of the robot to which the sensor values will be assigned. A robot with that name must exist in both robots() and realRobots() instances.
wrenches	map of force sensor name to wrenches

Exceptions

If	the specified robot does not exist
if	any of the force sensors do not exist

◆ setWrenches() [3/3]

MC_RTC_DEPRECATED void mc_control::MCGlobalController::setWrenches	(	unsigned int	robotIndex,
		const std::map< std::string, sva::ForceVecd > &	wrenches
	)

Deprecated:: in favor of setWrenches(const std::string &, const std::map<std::string, sva::ForceVecd> &)

◆ timestep()

double mc_control::MCGlobalController::timestep ( ) const

Get the controller timestep.

Member Data Documentation

◆ running

bool mc_control::MCGlobalController::running = false

Returns true if the controller is running.

To prevent any serious issues, the controller will stop when the underlying MCController instance fails to run

The documentation for this struct was generated from the following file:

include/mc_control/mc_global_controller.h

Classes

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Member Typedef Documentation

◆ QuaternionMap

◆ QuaternionMapAllocator

Constructor & Destructor Documentation

◆ MCGlobalController() [1/2]

◆ MCGlobalController() [2/2]

◆ ~MCGlobalController()

Member Function Documentation

◆ add_controller_module_paths()

◆ AddController() [1/2]

◆ AddController() [2/2]

◆ configuration()

◆ controller() [1/2]

◆ controller() [2/2]

◆ current_controller()

◆ EnableController()

◆ enabled_controllers()

◆ get_robot_module()

◆ GoToHalfSitPose()

◆ GoToHalfSitPose_service()

◆ init() [1/4]

◆ init() [2/4]

◆ init() [3/4]

◆ init() [4/4]

◆ loaded_controllers()

◆ loaded_robots()

◆ ref_joint_order()

◆ refreshLog()

◆ reset()

◆ run()

◆ server()

◆ setEncoderValues() [1/2]

◆ setEncoderValues() [2/2]

◆ setEncoderVelocities() [1/2]

◆ setEncoderVelocities() [2/2]

◆ setGripperOpenPercent() [1/2]

◆ setGripperOpenPercent() [2/2]

◆ setGripperTargetQ()

◆ setJointDriverTemperature() [1/2]

◆ setJointDriverTemperature() [2/2]

◆ setJointDriverTemperatures() [1/2]

◆ setJointDriverTemperatures() [2/2]

◆ setJointMotorCurrent() [1/2]

◆ setJointMotorCurrent() [2/2]

◆ setJointMotorCurrents() [1/2]

◆ setJointMotorCurrents() [2/2]

◆ setJointMotorStatus() [1/2]

◆ setJointMotorStatus() [2/2]

◆ setJointMotorStatuses() [1/2]

◆ setJointMotorStatuses() [2/2]

◆ setJointMotorTemperature() [1/2]

◆ setJointMotorTemperature() [2/2]

◆ setJointMotorTemperatures() [1/2]

◆ setJointMotorTemperatures() [2/2]

◆ setJointTorques() [1/2]

◆ setJointTorques() [2/2]

◆ setSensorAcceleration()

◆ setSensorAccelerations() [1/2]

◆ setSensorAccelerations() [2/2]

◆ setSensorAngularAcceleration() [1/2]

◆ setSensorAngularAcceleration() [2/2]

◆ setSensorAngularAccelerations() [1/3]

◆ setSensorAngularAccelerations() [2/3]

◆ setSensorAngularAccelerations() [3/3]

◆ setSensorAngularVelocities() [1/3]

◆ setSensorAngularVelocities() [2/3]

◆ setSensorAngularVelocities() [3/3]

◆ setSensorAngularVelocity() [1/2]

◆ setSensorAngularVelocity() [2/2]

◆ setSensorLinearAcceleration() [1/2]

◆ setSensorLinearAcceleration() [2/2]

◆ setSensorLinearAccelerations() [1/3]

◆ setSensorLinearAccelerations() [2/3]

◆ setSensorLinearAccelerations() [3/3]

◆ setSensorLinearVelocities() [1/3]