#include <sot/torque_control/motor-model.hh>
Public Member Functions | |
MotorModel () | |
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) |
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) |
double | smoothSign (double value, double threshold, unsigned int poly=3) |
Definition at line 19 of file motor-model.hh.
MotorModel | ( | ) |
Definition at line 14 of file motor-model.cpp.
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 at line 16 of file motor-model.cpp.
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 at line 43 of file motor-model.cpp.
double smoothSign | ( | double | value, |
double | threshold, | ||
unsigned int | poly = 3 |
||
) |
Definition at line 71 of file motor-model.cpp.