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10 #ifndef __SOT_Control_PD_HH__
11 #define __SOT_Control_PD_HH__
18 #include <dynamic-graph/linear-algebra.h>
22 #include <dynamic-graph/entity.h>
23 #include <dynamic-graph/signal-ptr.h>
24 #include <dynamic-graph/signal-time-dependent.h>
31 #if defined(control_pd_EXPORTS)
32 #define ControlPD_EXPORT __declspec(dllexport)
34 #define ControlPD_EXPORT __declspec(dllimport)
37 #define ControlPD_EXPORT
53 void init(
const double &step);
61 virtual void display(std::ostream &os)
const;
62 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
70 SignalPtr<dg::Vector, int>
KpSIN;
71 SignalPtr<dg::Vector, int>
KdSIN;
81 dg::Vector &computeControl(dg::Vector &tau,
int t);
84 dg::Vector &getPositionError(dg::Vector &position_error,
int t);
85 dg::Vector &getVelocityError(dg::Vector &velocity_error,
int t);
91 #endif // #ifndef __SOT_Control_PD_HH__
SignalTimeDependent< dg::Vector, int > positionErrorSOUT
Definition: control-pd.hh:77
Definition: abstract-sot-external-interface.hh:17
SignalTimeDependent< dg::Vector, int > velocityErrorSOUT
Definition: control-pd.hh:78
virtual const std::string & getClassName(void) const
Definition: control-pd.hh:62
SignalPtr< dg::Vector, int > velocitySIN
Definition: control-pd.hh:74
SignalPtr< dg::Vector, int > KpSIN
Definition: control-pd.hh:70
double TimeStep
Definition: control-pd.hh:67
SignalTimeDependent< dg::Vector, int > controlSOUT
Definition: control-pd.hh:76
SignalPtr< dg::Vector, int > KdSIN
Definition: control-pd.hh:71
Definition: control-pd.hh:47
dg::Vector velocity_error_
Definition: control-pd.hh:83
dg::Vector position_error_
Definition: control-pd.hh:82
static const double TIME_STEP_DEFAULT
Definition: control-pd.hh:57
#define ControlPD_EXPORT
Definition: control-pd.hh:37
SignalPtr< dg::Vector, int > desiredpositionSIN
Definition: control-pd.hh:73
SignalPtr< dg::Vector, int > positionSIN
Definition: control-pd.hh:72
static const std::string CLASS_NAME
Definition: control-pd.hh:60
SignalPtr< dg::Vector, int > desiredvelocitySIN
Definition: control-pd.hh:75