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

◆ ControllerPD() [1/2]

◆ ControllerPD() [2/2]

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

Member Function Documentation

◆ DECLARE_SIGNAL_IN() [1/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( Kp  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [2/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( Kp  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [3/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( Kd  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [4/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( Kd  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [5/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [6/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( position  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [7/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( positionRef  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [8/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( positionRef  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [9/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [10/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( velocity  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [11/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( velocityRef  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_IN() [12/12]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN ( velocityRef  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [1/2]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ DECLARE_SIGNAL_OUT() [2/2]

dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT ( control  ,
dg::Vector   
)

◆ display() [1/2]

virtual void dynamicgraph::sot::dyninv::ControllerPD::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ display() [2/2]

void dynamicgraph::sot::dyninv::ControllerPD::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

References dynamicgraph::Entity::getName().

Referenced by setStandardGains().

◆ setGainVelocityOnly() [1/2]

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

References _dimension, and setStandardGains().

Referenced by ControllerPD(), and size().

◆ setGainVelocityOnly() [2/2]

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

◆ setStandardGains() [1/2]

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 display().

Referenced by ControllerPD(), and setGainVelocityOnly().

◆ setStandardGains() [2/2]

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

◆ size() [1/4]

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

◆ size() [2/4]

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

References _dimension, and size().

◆ size() [3/4]

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

References _dimension, and setGainVelocityOnly().

Referenced by ControllerPD(), and size().

◆ size() [4/4]

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

Member Data Documentation

◆ _dimension

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