#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. More... | |
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, ml::Vector) | |
DECLARE_SIGNAL_IN (Kd, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_IN (positionRef, ml::Vector) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (velocityRef, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::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, ml::Vector) | |
DECLARE_SIGNAL_IN (Kd, ml::Vector) | |
DECLARE_SIGNAL_IN (position, ml::Vector) | |
DECLARE_SIGNAL_IN (positionRef, ml::Vector) | |
DECLARE_SIGNAL_IN (velocity, ml::Vector) | |
DECLARE_SIGNAL_IN (velocityRef, ml::Vector) | |
DECLARE_SIGNAL_OUT (control, ml::Vector) | |
![]() | |
Entity (const std::string &name) | |
virtual | ~Entity () |
const std::string & | getName () const |
virtual const std::string & | getClassName () const =0 |
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 |
Protected Attributes | |
int | _dimension |
![]() | |
std::string | name |
SignalMap | signalMap |
CommandMap_t | commandMap |
Additional Inherited Members | |
![]() | |
typedef std::map< std::string, SignalBase< int > * > | SignalMap |
typedef std::map< const std::string, command::Command * > | CommandMap_t |
![]() | |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
typedef Ent | EntityClassName |
![]() | |
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) |
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 | ) |
|
virtual |
Reimplemented from dynamicgraph::Entity.
References dynamicgraph::Entity::commandLine(), setGainVelocityOnly(), setStandardGains(), and size().
|
virtual |
Reimplemented from dynamicgraph::Entity.
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kp | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kp | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kd | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | Kd | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | position | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | positionRef | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | positionRef | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocity | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocityRef | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN | ( | velocityRef | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT | ( | control | , |
ml::Vector | |||
) |
|
virtual |
Reimplemented from dynamicgraph::Entity.
|
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, and maal::boost::Vector::fill().
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, and maal::boost::Vector::fill().
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 |
|
protected |
Referenced by ControllerPD(), setGainVelocityOnly(), setStandardGains(), and size().