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feedback-controller.hh
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1/*
2 * Copyright 2010 CNRS
3 *
4 * Florent Lamiraux
5 */
6
7#ifndef DG_TUTORIAL_FEEDBACK_CONTROLLER_HH
8#define DG_TUTORIAL_FEEDBACK_CONTROLLER_HH
9
10#include <dynamic-graph/entity.h>
11#include <dynamic-graph/linear-algebra.h>
12#include <dynamic-graph/signal-ptr.h>
13#include <dynamic-graph/signal-time-dependent.h>
14
15namespace dynamicgraph {
16namespace tutorial {
23class FeedbackController : public Entity {
24 public:
28 FeedbackController(const std::string& inName);
29
31
33 virtual const std::string& getClassName(void) const { return CLASS_NAME; }
34
36 virtual std::string getDocString() const {
37 return "Feedback controller aimed at maintaining the pendulum vertical\n";
38 }
46 void setGain(const ::dynamicgraph::Matrix& inGain) { gain_ = inGain; }
47
51 ::dynamicgraph::Matrix getGain() const { return gain_; }
52
57 public:
58 /*
59 \brief Class name
60 */
61 static const std::string CLASS_NAME;
62
63 private:
67 double& computeForceFeedback(double& force, const int& inTime);
68
72 SignalPtr< ::dynamicgraph::Vector, int> stateSIN;
76 SignalTimeDependent<double, int> forceSOUT;
77
79 ::dynamicgraph::Matrix gain_;
80};
81} // namespace tutorial
82} // namespace dynamicgraph
83
84#endif // DG_TUTORIAL_FEEDBACK_CONTROLLER_HH
Feedback controller for an inverted pendulum.
Definition feedback-controller.hh:23
virtual const std::string & getClassName(void) const
Each entity should provide the name of the class it belongs to.
Definition feedback-controller.hh:33
virtual std::string getDocString() const
Header documentation of the python class.
Definition feedback-controller.hh:36
static const std::string CLASS_NAME
Definition feedback-controller.hh:61
FeedbackController(const std::string &inName)
Constructor by name.
void setGain(const ::dynamicgraph::Matrix &inGain)
Get feedback gain.
Definition feedback-controller.hh:46
::dynamicgraph::Matrix getGain() const
Get feedback gain.
Definition feedback-controller.hh:51
Definition feedback-controller.hh:15