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

#include <controller-pd.h>

Inheritance diagram for dynamicgraph::sot::dyninv::ControllerPD:
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Collaboration diagram for dynamicgraph::sot::dyninv::ControllerPD:
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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
 
 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
 
 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)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
virtual const std::string & getClassName () 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::CommandgetNewStyleCommand (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 ()
 
bool setTimeSample (double t)
 
double getTimeSample ()
 
bool setStreamPrintPeriod (double t)
 
double getStreamPrintPeriod ()
 

Protected Attributes

int _dimension
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 
Logger logger_
 

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
 
- Public Types inherited from dynamicgraph::EntityHelper< ControllerPD >
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
typedef Ent EntityClassName
 
- 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)
 

Constructor & Destructor Documentation

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

Member Function Documentation

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  )

References _dimension.

Referenced by ControllerPD().

void dynamicgraph::sot::dyninv::ControllerPD::setGainVelocityOnly ( void  )
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 ControllerPD().

void dynamicgraph::sot::dyninv::ControllerPD::setStandardGains ( const std::string &  config)
void dynamicgraph::sot::dyninv::ControllerPD::size ( const int &  dimension)
void dynamicgraph::sot::dyninv::ControllerPD::size ( const int &  dimension)

References _dimension.

int dynamicgraph::sot::dyninv::ControllerPD::size ( void  ) const

References _dimension.

int dynamicgraph::sot::dyninv::ControllerPD::size ( void  ) const

Member Data Documentation

int dynamicgraph::sot::dyninv::ControllerPD::_dimension
protected