sot-torque-control  1.6.4
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
 
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motor-model.hh
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1#ifndef MOTORMODEL_H
2#define MOTORMODEL_H
3/* --------------------------------------------------------------------- */
4/* --- API ------------------------------------------------------------- */
5/* --------------------------------------------------------------------- */
6
7#if defined(WIN32)
8#if defined(force_torque_estimator_EXPORTS)
9#define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllexport)
10#else
11#define SOTFORCETORQUEESTIMATOR_EXPORT __declspec(dllimport)
12#endif
13#else
14#define SOTFORCETORQUEESTIMATOR_EXPORT
15#endif
16namespace dynamicgraph {
17namespace sot {
18namespace torque_control {
20 public:
21 MotorModel();
22 double getCurrent(double torque, double dq, double ddq, double Kt_p,
23 double Kt_n, double Kf_p = 0.0, double Kf_n = 0.0,
24 double Kv_p = 0.0, double Kv_n = 0.0, double Ka_p = 0.0,
25 double Ka_n = 0.0, unsigned int poly = 3);
26
27 double getTorque(double current, double dq, double ddq, double Kt_p,
28 double Kt_n, double Kf_p = 0.0, double Kf_n = 0.0,
29 double Kv_p = 0.0, double Kv_n = 0.0, double Ka_p = 0.0,
30 double Ka_n = 0.0, unsigned int poly = 3);
31 double smoothSign(double value, double threshold, unsigned int poly = 3);
32};
33} // namespace torque_control
34} // namespace sot
35} // namespace dynamicgraph
36#endif // MOTORMODEL_H
double smoothSign(double value, double threshold, unsigned int poly=3)
Definition: motor-model.cpp:71
double getTorque(double current, double dq, double ddq, double Kt_p, double Kt_n, double Kf_p=0.0, double Kf_n=0.0, double Kv_p=0.0, double Kv_n=0.0, double Ka_p=0.0, double Ka_n=0.0, unsigned int poly=3)
Definition: motor-model.cpp:43
double getCurrent(double torque, double dq, double ddq, double Kt_p, double Kt_n, double Kf_p=0.0, double Kf_n=0.0, double Kv_p=0.0, double Kv_n=0.0, double Ka_p=0.0, double Ka_n=0.0, unsigned int poly=3)
Definition: motor-model.cpp:16
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Definition: treeview.dox:22