rate_limiting.h File Reference

Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity. More...

#include <array>
#include <limits>

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Functions
std::array< double, 7 >	franka::limitRate (const std::array< double, 7 > &max_derivatives, const std::array< double, 7 > &commanded_values, const std::array< double, 7 > &last_commanded_values)
	Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives. More...
double	franka::limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_velocity, double last_commanded_velocity, double last_commanded_acceleration)
	Limits the rate of a desired joint velocity considering the limits provided. More...
double	franka::limitRate (double max_velocity, double max_acceleration, double max_jerk, double commanded_position, double last_commanded_position, double last_commanded_velocity, double last_commanded_acceleration)
	Limits the rate of a desired joint position considering the limits provided. More...
std::array< double, 7 >	franka::limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_velocities, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
	Limits the rate of a desired joint velocity considering the limits provided. More...
std::array< double, 7 >	franka::limitRate (const std::array< double, 7 > &max_velocity, const std::array< double, 7 > &max_acceleration, const std::array< double, 7 > &max_jerk, const std::array< double, 7 > &commanded_positions, const std::array< double, 7 > &last_commanded_positions, const std::array< double, 7 > &last_commanded_velocities, const std::array< double, 7 > &last_commanded_accelerations)
	Limits the rate of a desired joint position considering the limits provided. More...
std::array< double, 6 >	franka::limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 6 > &O_dP_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
	Limits the rate of a desired Cartesian velocity considering the limits provided. More...
std::array< double, 16 >	franka::limitRate (double max_translational_velocity, double max_translational_acceleration, double max_translational_jerk, double max_rotational_velocity, double max_rotational_acceleration, double max_rotational_jerk, const std::array< double, 16 > &O_T_EE_c, const std::array< double, 16 > &last_O_T_EE_c, const std::array< double, 6 > &last_O_dP_EE_c, const std::array< double, 6 > &last_O_ddP_EE_c)
	Limits the rate of a desired Cartesian pose considering the limits provided. More...

Variables
constexpr double	franka::kDeltaT = 1e-3
	Sample time constant.
constexpr double	franka::kLimitEps = 1e-3
	Epsilon value for checking limits.
constexpr double	franka::kNormEps = std::numeric_limits<double>::epsilon()
	Epsilon value for limiting Cartesian accelerations/jerks or not.
constexpr double	franka::kTolNumberPacketsLost = 3.0
	Number of packets losts considered for the definition of velocity limits. More...
constexpr double	franka::kFactorCartesianRotationPoseInterface = 0.99
	Factor for the definition of rotational limits using the Cartesian Pose interface.
constexpr std::array< double, 7 >	franka::kMaxTorqueRate
	Maximum torque rate. More...
constexpr std::array< double, 7 >	franka::kMaxJointJerk
	Maximum joint jerk. More...
constexpr std::array< double, 7 >	franka::kMaxJointAcceleration
	Maximum joint acceleration. More...
constexpr std::array< double, 7 >	franka::kMaxJointVelocity
	Maximum joint velocity. More...
constexpr double	franka::kMaxTranslationalJerk = 6500.0 - kLimitEps
	Maximum translational jerk.
constexpr double	franka::kMaxTranslationalAcceleration = 13.0000 - kLimitEps
	Maximum translational acceleration.
constexpr double	franka::kMaxTranslationalVelocity
	Maximum translational velocity. More...
constexpr double	franka::kMaxRotationalJerk = 12500.0 - kLimitEps
	Maximum rotational jerk.
constexpr double	franka::kMaxRotationalAcceleration = 25.0000 - kLimitEps
	Maximum rotational acceleration.
constexpr double	franka::kMaxRotationalVelocity
	Maximum rotational velocity. More...
constexpr double	franka::kMaxElbowJerk = 5000 - kLimitEps
	Maximum elbow jerk.
constexpr double	franka::kMaxElbowAcceleration = 10.0000 - kLimitEps
	Maximum elbow acceleration.
constexpr double	franka::kMaxElbowVelocity
	Maximum elbow velocity. More...

Detailed Description

Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity.

Function Documentation

limitRate() [1/7]

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_derivatives,
		const std::array< double, 7 > &	commanded_values,
		const std::array< double, 7 > &	last_commanded_values
	)

Limits the rate of an input vector of per-joint commands considering the maximum allowed time derivatives.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_derivatives	Per-joint maximum allowed time derivative.
[in]	commanded_values	Commanded values of the current time step.
[in]	last_commanded_values	Commanded values of the previous time step.

Exceptions

std::invalid_argument

if commanded_values are infinite or NaN.

Returns

Rate-limited vector of desired values.

Examples:

joint_impedance_control.cpp.

limitRate() [2/7]

double franka::limitRate	(	double	max_velocity,
		double	max_acceleration,
		double	max_jerk,
		double	commanded_velocity,
		double	last_commanded_velocity,
		double	last_commanded_acceleration
	)

Limits the rate of a desired joint velocity considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Maximum allowed velocity.
[in]	max_acceleration	Maximum allowed acceleration.
[in]	max_jerk	Maximum allowed jerk.
[in]	commanded_velocity	Commanded joint velocity of the current time step.
[in]	last_commanded_velocity	Commanded joint velocitiy of the previous time step.
[in]	last_commanded_acceleration	Commanded joint acceleration of the previous time step.

Exceptions

std::invalid_argument

if commanded_velocity is infinite or NaN.

Returns

Rate-limited desired joint velocity.

limitRate() [3/7]

double franka::limitRate	(	double	max_velocity,
		double	max_acceleration,
		double	max_jerk,
		double	commanded_position,
		double	last_commanded_position,
		double	last_commanded_velocity,
		double	last_commanded_acceleration
	)

Limits the rate of a desired joint position considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Maximum allowed velocity.
[in]	max_acceleration	Maximum allowed acceleration.
[in]	max_jerk	Maximum allowed jerk.
[in]	commanded_position	Commanded joint position of the current time step.
[in]	last_commanded_position	Commanded joint position of the previous time step.
[in]	last_commanded_velocity	Commanded joint velocity of the previous time step.
[in]	last_commanded_acceleration	Commanded joint acceleration of the previous time step.

Exceptions

std::invalid_argument

if commanded_position is infinite or NaN.

Returns

Rate-limited desired joint position.

limitRate() [4/7]

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_velocity,
		const std::array< double, 7 > &	max_acceleration,
		const std::array< double, 7 > &	max_jerk,
		const std::array< double, 7 > &	commanded_velocities,
		const std::array< double, 7 > &	last_commanded_velocities,
		const std::array< double, 7 > &	last_commanded_accelerations
	)

Limits the rate of a desired joint velocity considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Per-joint maximum allowed velocity.
[in]	max_acceleration	Per-joint maximum allowed acceleration.
[in]	max_jerk	Per-joint maximum allowed jerk.
[in]	commanded_velocities	Commanded joint velocity of the current time step.
[in]	last_commanded_velocities	Commanded joint velocities of the previous time step.
[in]	last_commanded_accelerations	Commanded joint accelerations of the previous time step.

Exceptions

std::invalid_argument

if commanded_velocities are infinite or NaN.

Returns

Rate-limited vector of desired joint velocities.

limitRate() [5/7]

std::array<double, 7> franka::limitRate	(	const std::array< double, 7 > &	max_velocity,
		const std::array< double, 7 > &	max_acceleration,
		const std::array< double, 7 > &	max_jerk,
		const std::array< double, 7 > &	commanded_positions,
		const std::array< double, 7 > &	last_commanded_positions,
		const std::array< double, 7 > &	last_commanded_velocities,
		const std::array< double, 7 > &	last_commanded_accelerations
	)

Limits the rate of a desired joint position considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_velocity	Per-joint maximum allowed velocity.
[in]	max_acceleration	Per-joint maximum allowed velocity.
[in]	max_jerk	Per-joint maximum allowed velocity.
[in]	commanded_positions	Per-joint maximum allowed acceleration.
[in]	last_commanded_positions	Commanded joint positions of the current time step.
[in]	last_commanded_velocities	Commanded joint positions of the previous time step.
[in]	last_commanded_accelerations	Commanded joint velocities of the previous time step.

Exceptions

std::invalid_argument

if commanded_positions are infinite or NaN.

Returns

Rate-limited vector of desired joint positions.

limitRate() [6/7]

std::array<double, 6> franka::limitRate	(	double	max_translational_velocity,
		double	max_translational_acceleration,
		double	max_translational_jerk,
		double	max_rotational_velocity,
		double	max_rotational_acceleration,
		double	max_rotational_jerk,
		const std::array< double, 6 > &	O_dP_EE_c,
		const std::array< double, 6 > &	last_O_dP_EE_c,
		const std::array< double, 6 > &	last_O_ddP_EE_c
	)

Limits the rate of a desired Cartesian velocity considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_translational_velocity	Maximum translational velocity.
[in]	max_translational_acceleration	Maximum translational acceleration.
[in]	max_translational_jerk	Maximum translational jerk.
[in]	max_rotational_velocity	Maximum rotational velocity.
[in]	max_rotational_acceleration	Maximum rotational acceleration.
[in]	max_rotational_jerk	Maximum rotational jerk.
[in]	O_dP_EE_c	Commanded end effector twist of the current time step.
[in]	last_O_dP_EE_c	Commanded end effector twist of the previous time step.
[in]	last_O_ddP_EE_c	Commanded end effector acceleration of the previous time step.

Exceptions

std::invalid_argument

if an element of O_dP_EE_c is infinite or NaN.

Returns

Rate-limited desired end effector twist.

limitRate() [7/7]

std::array<double, 16> franka::limitRate	(	double	max_translational_velocity,
		double	max_translational_acceleration,
		double	max_translational_jerk,
		double	max_rotational_velocity,
		double	max_rotational_acceleration,
		double	max_rotational_jerk,
		const std::array< double, 16 > &	O_T_EE_c,
		const std::array< double, 16 > &	last_O_T_EE_c,
		const std::array< double, 6 > &	last_O_dP_EE_c,
		const std::array< double, 6 > &	last_O_ddP_EE_c
	)

Limits the rate of a desired Cartesian pose considering the limits provided.

Note

FCI filters must be deactivated to work properly.

Parameters

[in]	max_translational_velocity	Maximum translational velocity.
[in]	max_translational_acceleration	Maximum translational acceleration.
[in]	max_translational_jerk	Maximum translational jerk.
[in]	max_rotational_velocity	Maximum rotational velocity.
[in]	max_rotational_acceleration	Maximum rotational acceleration.
[in]	max_rotational_jerk	Maximum rotational jerk.
[in]	O_T_EE_c	Commanded pose of the current time step.
[in]	last_O_T_EE_c	Commanded pose of the previous time step.
[in]	last_O_dP_EE_c	Commanded end effector twist of the previous time step.
[in]	last_O_ddP_EE_c	Commanded end effector acceleration of the previous time step.

Exceptions

std::invalid_argument

if an element of O_T_EE_c is infinite or NaN.

Returns

Rate-limited desired pose.

Variable Documentation

kMaxElbowVelocity

constexpr double franka::kMaxElbowVelocity

Initial value:

=
    2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxElbowAcceleration

Maximum elbow velocity.

kMaxJointAcceleration

constexpr std::array<double, 7> franka::kMaxJointAcceleration

Initial value:

{
    {15.0000 - kLimitEps, 7.500 - kLimitEps, 10.0000 - kLimitEps, 12.5000 - kLimitEps,
     15.0000 - kLimitEps, 20.0000 - kLimitEps, 20.0000 - kLimitEps}}

Maximum joint acceleration.

kMaxJointJerk

constexpr std::array<double, 7> franka::kMaxJointJerk

Initial value:

{
    {7500.0 - kLimitEps, 3750.0 - kLimitEps, 5000.0 - kLimitEps, 6250.0 - kLimitEps,
     7500.0 - kLimitEps, 10000.0 - kLimitEps, 10000.0 - kLimitEps}}

Maximum joint jerk.

kMaxJointVelocity

constexpr std::array<double, 7> franka::kMaxJointVelocity

Initial value:

{
    {2.1750 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxJointAcceleration[0],
     2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[1],
     2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[2],
     2.1750 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[3],
     2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[4],
     2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[5],
     2.6100 - kLimitEps - kTolNumberPacketsLost* kDeltaT* kMaxJointAcceleration[6]}}

Maximum joint velocity.

kMaxRotationalVelocity

constexpr double franka::kMaxRotationalVelocity

Initial value:

=
    2.5000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxRotationalAcceleration

Maximum rotational velocity.

kMaxTorqueRate

constexpr std::array<double, 7> franka::kMaxTorqueRate

Initial value:

{
    {1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps, 1000 - kLimitEps,
     1000 - kLimitEps, 1000 - kLimitEps}}

Maximum torque rate.

Examples:

joint_impedance_control.cpp.

kMaxTranslationalVelocity

constexpr double franka::kMaxTranslationalVelocity

Initial value:

=
    2.0000 - kLimitEps - kTolNumberPacketsLost * kDeltaT * kMaxTranslationalAcceleration

Maximum translational velocity.

kTolNumberPacketsLost

constexpr double franka::kTolNumberPacketsLost = 3.0

Number of packets losts considered for the definition of velocity limits.

When a packet is lost, FCI assumes a constant acceleration model