#include <controller-pd.h>
Public Member Functions | |
ControllerPD (const std::string &name) | |
void | size (const int &dimension) |
int | size (void) const |
void | setStandardGains (const std::string &config) |
Give some specific values for the Kp and Kd gains. | |
void | setGainVelocityOnly (void) |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (Kp, dg::Vector) | |
DECLARE_SIGNAL_IN (Kd, dg::Vector) | |
DECLARE_SIGNAL_IN (position, dg::Vector) | |
DECLARE_SIGNAL_IN (positionRef, dg::Vector) | |
DECLARE_SIGNAL_IN (velocity, dg::Vector) | |
DECLARE_SIGNAL_IN (velocityRef, dg::Vector) | |
DECLARE_SIGNAL_OUT (control, dg::Vector) | |
ControllerPD (const std::string &name) | |
void | size (const int &dimension) |
int | size (void) const |
void | setStandardGains (const std::string &config) |
void | setGainVelocityOnly (void) |
virtual void | display (std::ostream &os) const |
virtual void | commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os) |
DECLARE_SIGNAL_IN (Kp, dg::Vector) | |
DECLARE_SIGNAL_IN (Kd, dg::Vector) | |
DECLARE_SIGNAL_IN (position, dg::Vector) | |
DECLARE_SIGNAL_IN (positionRef, dg::Vector) | |
DECLARE_SIGNAL_IN (velocity, dg::Vector) | |
DECLARE_SIGNAL_IN (velocityRef, dg::Vector) | |
DECLARE_SIGNAL_OUT (control, dg::Vector) | |
Protected Attributes | |
int | _dimension |
dynamicgraph::sot::dyninv::ControllerPD::ControllerPD | ( | const std::string & | name | ) |
References _dimension, dynamicgraph::Entity::addCommand(), docCommandVoid0(), docCommandVoid1(), docDirectGetter(), docDirectSetter(), makeCommandVoid0(), makeCommandVoid1(), makeDirectGetter(), makeDirectSetter(), setGainVelocityOnly(), setStandardGains(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::ControllerPD::ControllerPD | ( | const std::string & | name | ) |
void dynamicgraph::sot::dyninv::ControllerPD::commandLine | ( | const std::string & | cmdLine, |
std::istringstream & | cmdArgs, | ||
std::ostream & | os | ||
) | [virtual] |
Reimplemented from dynamicgraph::Entity.
References setGainVelocityOnly(), setStandardGains(), and size().
virtual void dynamicgraph::sot::dyninv::ControllerPD::commandLine | ( | const std::string & | cmdLine, |
std::istringstream & | cmdArgs, | ||
std::ostream & | os | ||
) | [virtual] |
Reimplemented from dynamicgraph::Entity.
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kp | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kp | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kd | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kd | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | position | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | position | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | positionRef | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | positionRef | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocity | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocityRef | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocityRef | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT | ( | control | , |
dg::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT | ( | control | , |
dg::Vector | |||
) |
virtual void dynamicgraph::sot::dyninv::ControllerPD::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
void dynamicgraph::sot::dyninv::ControllerPD::display | ( | std::ostream & | os | ) | const [virtual] |
Reimplemented from dynamicgraph::Entity.
References dynamicgraph::Entity::getName().
void dynamicgraph::sot::dyninv::ControllerPD::setGainVelocityOnly | ( | void | ) |
void dynamicgraph::sot::dyninv::ControllerPD::setGainVelocityOnly | ( | void | ) |
References _dimension.
Referenced by commandLine(), and ControllerPD().
void dynamicgraph::sot::dyninv::ControllerPD::setStandardGains | ( | const std::string & | config | ) |
void dynamicgraph::sot::dyninv::ControllerPD::setStandardGains | ( | const std::string & | config | ) |
Give some specific values for the Kp and Kd gains.
Possible configs are "low", "middle" and "high". Warning: middle and high only works for dim 30. TODO: properly throw errors when needed.
References _dimension.
Referenced by commandLine(), and ControllerPD().
void dynamicgraph::sot::dyninv::ControllerPD::size | ( | const int & | dimension | ) |
References _dimension.
void dynamicgraph::sot::dyninv::ControllerPD::size | ( | const int & | dimension | ) |
int dynamicgraph::sot::dyninv::ControllerPD::size | ( | void | ) | const |
References _dimension.
Referenced by commandLine().
int dynamicgraph::sot::dyninv::ControllerPD::size | ( | void | ) | const |
int dynamicgraph::sot::dyninv::ControllerPD::_dimension [protected] |
Referenced by ControllerPD(), setGainVelocityOnly(), setStandardGains(), and size().