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dynamicgraph::sot::ControlPD Class Reference

#include <sot/core/control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:
[legend]

Public Member Functions

 ControlPD (const std::string &name)
 
void init (const double &step)
 
virtual void display (std::ostream &os) const
 
virtual const std::string & getClassName (void) const
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual std::string getDocString () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 

Public Attributes

SignalPtr< dg::Vector, int > KpSIN
 
SignalPtr< dg::Vector, int > KdSIN
 
SignalPtr< dg::Vector, int > positionSIN
 
SignalPtr< dg::Vector, int > desiredpositionSIN
 
SignalPtr< dg::Vector, int > velocitySIN
 
SignalPtr< dg::Vector, int > desiredvelocitySIN
 
SignalTimeDependent
< dg::Vector, int > 
controlSOUT
 

Static Public Attributes

static const double TIME_STEP_DEFAULT
 
static const std::string CLASS_NAME
 

Protected Member Functions

double & setsize (int dimension)
 
dg::VectorcomputeControl (dg::Vector &tau, int t)
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Protected Attributes

double TimeStep
 
double _dimension
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string,
SignalBase< int > * > 
SignalMap
 
typedef std::map< const
std::string, command::Command * > 
CommandMap_t
 

Constructor & Destructor Documentation

dynamicgraph::sot::ControlPD::ControlPD ( const std::string &  name)

Member Function Documentation

dg::Vector& dynamicgraph::sot::ControlPD::computeControl ( dg::Vector tau,
int  t 
)
protected
virtual void dynamicgraph::sot::ControlPD::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::ControlPD::getClassName ( void  ) const
inlinevirtual

Implements dynamicgraph::Entity.

void dynamicgraph::sot::ControlPD::init ( const double &  step)
double& dynamicgraph::sot::ControlPD::setsize ( int  dimension)
protected

Member Data Documentation

double dynamicgraph::sot::ControlPD::_dimension
protected
const std::string dynamicgraph::sot::ControlPD::CLASS_NAME
static
SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::ControlPD::controlSOUT
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::desiredpositionSIN
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::desiredvelocitySIN
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::KdSIN
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::KpSIN
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::positionSIN
const double dynamicgraph::sot::ControlPD::TIME_STEP_DEFAULT
static
double dynamicgraph::sot::ControlPD::TimeStep
protected
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::velocitySIN