dynamicgraph::sot::ControlPD Class Reference

#include <sot/core/control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:
[legend]

List of all members.

Public Member Functions

 ControlPD (const std::string &name)
void init (const double &step)
virtual void display (std::ostream &os) const
virtual const std::string & getClassName (void) const

Public Attributes

SignalPtr< dg::Vector, int > KpSIN
SignalPtr< dg::Vector, int > KdSIN
SignalPtr< dg::Vector, int > positionSIN
SignalPtr< dg::Vector, int > desiredpositionSIN
SignalPtr< dg::Vector, int > velocitySIN
SignalPtr< dg::Vector, int > desiredvelocitySIN
SignalTimeDependent
< dg::Vector, int > 
controlSOUT

Static Public Attributes

static const double TIME_STEP_DEFAULT
static const std::string CLASS_NAME

Protected Member Functions

double & setsize (int dimension)
dg::VectorcomputeControl (dg::Vector &tau, int t)

Protected Attributes

double TimeStep
double _dimension

Constructor & Destructor Documentation

dynamicgraph::sot::ControlPD::ControlPD ( const std::string &  name)

Member Function Documentation

dg::Vector& dynamicgraph::sot::ControlPD::computeControl ( dg::Vector tau,
int  t 
) [protected]
virtual void dynamicgraph::sot::ControlPD::display ( std::ostream &  os) const [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::ControlPD::getClassName ( void  ) const [inline, virtual]

Implements dynamicgraph::Entity.

void dynamicgraph::sot::ControlPD::init ( const double &  step)
double& dynamicgraph::sot::ControlPD::setsize ( int  dimension) [protected]

Member Data Documentation

const std::string dynamicgraph::sot::ControlPD::CLASS_NAME [static]