Classes
class	AllegroCommandReceiver
	Handles lcmt_allegro_command messages from a LcmSubscriberSystem. More...

class	AllegroHandMotionState
	Detecting the state of the fingers: whether the joints are moving, or reached the destination, or got stuck by external collisions in the midway. More...

class	AllegroStatusSender
	Creates and outputs lcmt_allegro_status messages. More...

Functions
void	SetPositionControlledGains (double pid_frequency, double Ieff, Eigen::VectorXd Kp, Eigen::VectorXd Ki, Eigen::VectorXd *Kd)
	Set the feedback gains for the simulated position control. More...

void	GetControlPortMapping (const multibody::MultibodyPlant< double > &plant, MatrixX< double > Sx, MatrixX< double > Sy)
	Creates selector matrices which extract state xₛ in a known order from the plant's full x (`xₛ = Sx⋅x`) and promote the controller's ordered yₛ into the full plant's input actuation (`u = Su⋅uₛ`). More...

std::vector< std::string >	GetPreferredJointOrdering ()
	Defines the desired ordering of the finger joints by name. More...

Variables
constexpr int	kAllegroNumJoints = 16

const double	kHardwareStatusPeriod = 0.003

Function Documentation

◆ GetControlPortMapping()

void drake::examples::allegro_hand::GetControlPortMapping	(	const multibody::MultibodyPlant< double > &	plant,
		MatrixX< double > *	Sx,
		MatrixX< double > *	Sy
	)

Creates selector matrices which extract state xₛ in a known order from the plant's full x (xₛ = Sx⋅x) and promote the controller's ordered yₛ into the full plant's input actuation (u = Su⋅uₛ).

The matrices are used to initialize the PID controller for the hand.

See also: MultibodyPlant::MakeStateSelectorMatrix(), MultibodyPlant::MakeActuatorSelectorMatrix() for detailed definitions for the selector matrices.; systems::controllers::PidController for documentation on how these selector matrices are used in the PID controller.

Parameters

Sx	the matrix to match the output state of the plant into the state of the finger joints in the desired order.
Sy	the matrix to match the output torque for the hand joint actuators in the desired order into the input actuation of the plant.

◆ GetPreferredJointOrdering()

std::vector<std::string> drake::examples::allegro_hand::GetPreferredJointOrdering ( )

Defines the desired ordering of the finger joints by name.

The fingers are ordered as [thumb, index, middle, ring] and the joints of each finger are ordered from most proximal to most distal (relative to the palm).

◆ SetPositionControlledGains()

void drake::examples::allegro_hand::SetPositionControlledGains	(	double	pid_frequency,
		double	Ieff,
		Eigen::VectorXd *	Kp,
		Eigen::VectorXd *	Ki,
		Eigen::VectorXd *	Kd
	)

Set the feedback gains for the simulated position control.

Variable Documentation

◆ kAllegroNumJoints

constexpr int kAllegroNumJoints = 16

◆ kHardwareStatusPeriod

const double kHardwareStatusPeriod = 0.003

Classes

Functions