#include <sot/torque_control/position-controller.hh>
Public Member Functions | |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | PositionController (const std::string &name) |
DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (dqRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (jointsVelocities, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector) | |
joint proportional gains More... | |
DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector) | |
joint derivative gains More... | |
DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector) | |
DECLARE_SIGNAL_IN (qRef, dynamicgraph::Vector) | |
DECLARE_SIGNAL_OUT (pwmDes, dynamicgraph::Vector) | |
joint integral gains More... | |
DECLARE_SIGNAL_OUT (qError, dynamicgraph::Vector) | |
Kp*e_q + Kd*de_q + Ki*int(e_q) More... | |
virtual void | display (std::ostream &os) const |
qRef-q More... | |
void | init (const double &dt, const std::string &robotRef) |
void | resetIntegral () |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
Protected Attributes | |
Eigen::VectorXd | m_dq |
double | m_dt |
true if the entity has been successfully initialized More... | |
Eigen::VectorXd | m_e_integral |
control loop time period More... | |
bool | m_initSucceeded |
Eigen::VectorXd | m_pwmDes |
Robot Util. More... | |
Eigen::VectorXd | m_q |
RobotUtilShrPtr | m_robot_util |
Definition at line 44 of file position-controller.hh.
PositionController | ( | const std::string & | name | ) |
Definition at line 42 of file position-controller.cpp.
References PositionController::init(), INPUT_SIGNALS, OUTPUT_SIGNALS, and PositionController::resetIntegral().
DECLARE_SIGNAL_IN | ( | base6d_encoders | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | dqRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | jointsVelocities | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | Kd | , |
dynamicgraph::Vector | |||
) |
joint proportional gains
DECLARE_SIGNAL_IN | ( | Ki | , |
dynamicgraph::Vector | |||
) |
joint derivative gains
DECLARE_SIGNAL_IN | ( | Kp | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_IN | ( | qRef | , |
dynamicgraph::Vector | |||
) |
DECLARE_SIGNAL_OUT | ( | pwmDes | , |
dynamicgraph::Vector | |||
) |
joint integral gains
DECLARE_SIGNAL_OUT | ( | qError | , |
dynamicgraph::Vector | |||
) |
Kp*e_q + Kd*de_q + Ki*int(e_q)
|
virtual |
qRef-q
Definition at line 166 of file position-controller.cpp.
void init | ( | const double & | dt, |
const std::string & | robotRef | ||
) |
Definition at line 65 of file position-controller.cpp.
References PositionController::m_dq, PositionController::m_dt, PositionController::m_initSucceeded, PositionController::m_pwmDes, PositionController::m_q, PositionController::m_robot_util, and PositionController::resetIntegral().
Referenced by PositionController::PositionController().
void resetIntegral | ( | ) |
Definition at line 97 of file position-controller.cpp.
References PositionController::m_e_integral, and PositionController::m_robot_util.
Referenced by PositionController::init(), and PositionController::PositionController().
|
inline |
Definition at line 75 of file position-controller.hh.
|
protected |
Definition at line 88 of file position-controller.hh.
Referenced by PositionController::init().
|
protected |
true if the entity has been successfully initialized
Definition at line 83 of file position-controller.hh.
Referenced by PositionController::init().
|
protected |
control loop time period
Integral of the joint tracking errors
Definition at line 86 of file position-controller.hh.
Referenced by PositionController::resetIntegral().
|
protected |
Definition at line 82 of file position-controller.hh.
Referenced by PositionController::init().
|
protected |
Robot Util.
Definition at line 81 of file position-controller.hh.
Referenced by PositionController::init().
|
protected |
Definition at line 88 of file position-controller.hh.
Referenced by PositionController::init().
|
protected |
Definition at line 80 of file position-controller.hh.
Referenced by PositionController::init(), and PositionController::resetIntegral().