#include <controller-pd.h>
List of all members.
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.
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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) |
Protected Attributes |
int | _dimension |
Constructor & Destructor Documentation
dynamicgraph::sot::dyninv::ControllerPD::ControllerPD |
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const std::string & |
name | ) |
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References _dimension, dynamicgraph::Entity::addCommand(), docCommandVoid0(), docCommandVoid1(), docDirectGetter(), docDirectSetter(), makeCommandVoid0(), makeCommandVoid1(), makeDirectGetter(), makeDirectSetter(), setGainVelocityOnly(), setStandardGains(), and dynamicgraph::Entity::signalRegistration().
dynamicgraph::sot::dyninv::ControllerPD::ControllerPD |
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const std::string & |
name | ) |
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Member Function Documentation
dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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Kp |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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Kp |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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Kd |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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Kd |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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position |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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position |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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positionRef |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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positionRef |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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velocity |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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velocity |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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velocityRef |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_IN |
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velocityRef |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT |
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control |
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dg::Vector |
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dynamicgraph::sot::dyninv::ControllerPD::DECLARE_SIGNAL_OUT |
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control |
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dg::Vector |
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virtual void dynamicgraph::sot::dyninv::ControllerPD::display |
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std::ostream & |
os | ) |
const [virtual] |
void dynamicgraph::sot::dyninv::ControllerPD::display |
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std::ostream & |
os | ) |
const [virtual] |
void dynamicgraph::sot::dyninv::ControllerPD::setGainVelocityOnly |
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void |
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void dynamicgraph::sot::dyninv::ControllerPD::setGainVelocityOnly |
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void |
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void dynamicgraph::sot::dyninv::ControllerPD::setStandardGains |
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const std::string & |
config | ) |
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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 |
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const std::string & |
config | ) |
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void dynamicgraph::sot::dyninv::ControllerPD::size |
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const int & |
dimension | ) |
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void dynamicgraph::sot::dyninv::ControllerPD::size |
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const int & |
dimension | ) |
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int dynamicgraph::sot::dyninv::ControllerPD::size |
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void |
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const |
int dynamicgraph::sot::dyninv::ControllerPD::size |
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void |
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const |
Member Data Documentation