sot-torque-control  1.5.3
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
MotorModel Class Reference

#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)
 

Detailed Description

Definition at line 19 of file motor-model.hh.

Constructor & Destructor Documentation

◆ MotorModel()

Definition at line 14 of file motor-model.cpp.

Member Function Documentation

◆ getCurrent()

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.

◆ getTorque()

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 41 of file motor-model.cpp.

◆ smoothSign()

double smoothSign ( double  value,
double  threshold,
unsigned int  poly = 3 
)

Definition at line 66 of file motor-model.cpp.


The documentation for this class was generated from the following files: