AUV-Coop-Assembly
Master Thesis for Robotics Engineering. Cooperative peg-in-hole assembly with two underwater vehicles guided by vision
forceInsertTask.h
1 #ifndef FORCEINSERTTASK_H
2 #define FORCEINSERTTASK_H
3 
4 #include "task.h"
5 #include "../../support/header/conversions.h"
6 #include "../../support/header/formulas.h"
7 
21 class ForceInsertTask : public Task
22 {
23 public:
24  ForceInsertTask(int dimension, bool eqType, std::string robotName);
25  int updateMatrices(struct Infos* const robInfo);
26 private:
27  void setActivation(Eigen::Vector3d force, Eigen::Vector3d torque);
28  void setJacobian(Eigen::Matrix<double, 6, TOT_DOF> w_J_robot,
29  Eigen::Vector3d force, Eigen::Vector3d torque);
30  void setReference(Eigen::Vector3d force, Eigen::Vector3d torque);
31 
32  double gainAng;
33  Eigen::Vector3d integralFor;
34 };
35 
36 #endif // FORCEINSERTTASK_H
ForceInsertTask(int dimension, bool eqType, std::string robotName)
ForceInsertTask::ForceInsertTask.
The ForceInsertTask class to help the inserting phase with force torque sensor this task is to genera...
Definition: infos.h:117
ABSTRACT class task. Each task is a derived class of this class. It contains all the variable that th...
Definition: task.h:17