#include <sot/core/control-pd.hh>
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 |
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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 SignalBase< int > * | test () |
virtual void | test2 (SignalBase< int > *) |
const std::string & | getCommandList () const |
CommandMap_t | getNewStyleCommandMap () |
command::Command * | getNewStyleCommand (const std::string &cmdName) |
SignalMap | getSignalMap () const |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
void | setLoggerVerbosityLevel (LoggerVerbosity lv) |
LoggerVerbosity | getLoggerVerbosityLevel () |
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 |
SignalTimeDependent < dg::Vector, int > | positionErrorSOUT |
SignalTimeDependent < dg::Vector, int > | velocityErrorSOUT |
Static Public Attributes | |
static const double | TIME_STEP_DEFAULT |
static const std::string | CLASS_NAME |
Protected Member Functions | |
dg::Vector & | computeControl (dg::Vector &tau, int t) |
dg::Vector & | getPositionError (dg::Vector &position_error, int t) |
dg::Vector & | getVelocityError (dg::Vector &velocity_error, int t) |
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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 |
dg::Vector | position_error_ |
dg::Vector | velocity_error_ |
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std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Logger | logger_ |
Additional Inherited Members | |
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typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
dynamicgraph::sot::ControlPD::ControlPD | ( | const std::string & | name | ) |
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Reimplemented from dynamicgraph::Entity.
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inlinevirtual |
Reimplemented from dynamicgraph::Entity.
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void dynamicgraph::sot::ControlPD::init | ( | const double & | step | ) |
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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 |
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SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::ControlPD::positionErrorSOUT |
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::positionSIN |
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SignalTimeDependent<dg::Vector,int> dynamicgraph::sot::ControlPD::velocityErrorSOUT |
SignalPtr<dg::Vector,int> dynamicgraph::sot::ControlPD::velocitySIN |