Estimate motor and joint velocities through KF #909
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isorrentino
requested review from
GiulioRomualdi and
S-Dafarra
as code owners
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| // virtual bool getEncoderSpeed(int j, double* sp); | ||
| // virtual bool getEncoderSpeeds(double* spds); | ||
| // virtual bool getMotorEncoderSpeed(int m, double* sp); | ||
| // virtual bool getMotorEncoderSpeeds(double* spds); |
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Suggested change
| // virtual bool getEncoderSpeed(int j, double* sp); | |
| // virtual bool getEncoderSpeeds(double* spds); | |
| // virtual bool getMotorEncoderSpeed(int m, double* sp); | |
| // virtual bool getMotorEncoderSpeeds(double* spds); |
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| // bool JointTorqueControlDevice::getEncoderSpeeds(double* spds) | ||
| // { | ||
| // std::lock_guard<std::mutex>(this->globalMutex); | ||
| // memcpy(spds, measuredJointVelocities.data(), this->axes * sizeof(double)); | ||
| // return true; | ||
| // } | ||
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| // bool JointTorqueControlDevice::getEncoderSpeed(int j, double* sp) | ||
| // { | ||
| // std::lock_guard<std::mutex>(this->globalMutex); | ||
| // *sp = measuredJointVelocities[j]; | ||
| // return true; | ||
| // } | ||
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| // bool JointTorqueControlDevice::getMotorEncoderSpeeds(double* spds) | ||
| // { | ||
| // std::lock_guard<std::mutex>(this->globalMutex); | ||
| // memcpy(spds, measuredMotorVelocities.data(), this->axes * sizeof(double)); | ||
| // return true; | ||
| // } | ||
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| // bool JointTorqueControlDevice::getMotorEncoderSpeed(int j, double* sp) | ||
| // { | ||
| // std::lock_guard<std::mutex>(this->globalMutex); | ||
| // *sp = measuredMotorVelocities[j]; | ||
| // return true; | ||
| // } | ||
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Probably this is a leftover
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| // TO BE CHANGED | ||
| // For the time being instead of reading the motor acceleration we are reading the | ||
| // estimated friction torques | ||
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| // controlBoardRemapperMeasures.motorAccelerations.noalias() | ||
| // = controlBoardRemapperMeasures.remappedJointPermutationMatrix | ||
| // * controlBoardRemapperMeasures.motorAccelerationsUnordered * M_PI / 180; | ||
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No, we are writing the friction torques instead of the motor accelerations. I commented out this to avoid doing twice the conversion * M_PI/ 180.0 which now is not needed. I also added a comment to remember to change this once there will be a different solution to send the friction torques through yarp.
Is it ok like this or do you prefer not to change sensor bridge and apply the inverse conversion where I read the joint friction torques?
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Hi @isorrentino as far a I understood this pr includes also the #908. If you want you can close the other and keep only this open |
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Yes, this contains the other one. We can directly merge this. |
GiulioRomualdi
approved these changes
Nov 24, 2024
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This PR implements two KF to estimate the joint and motor velocities in the JointTorqueControlDevice.
cc @LoreMoretti