dynamicgraph::sot::dyninv::ControllerPD Class Reference

#include <controller-pd.h>

Inheritance diagram for dynamicgraph::sot::dyninv::ControllerPD:
[legend]
Collaboration diagram for dynamicgraph::sot::dyninv::ControllerPD:
[legend]

List of all members.

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

Constructor & Destructor Documentation

dynamicgraph::sot::dyninv::ControllerPD::ControllerPD ( const std::string &  name)

Member Function Documentation

void dynamicgraph::sot::dyninv::ControllerPD::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
) [virtual]
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

Member Data Documentation