#include <sot/torque_control/position-controller.hh>
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW | PositionController (const std::string &name) |
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| DECLARE_SIGNAL_IN (base6d_encoders, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (dqRef, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (jointsVelocities, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (Kd, dynamicgraph::Vector) |
| joint proportional gains More...
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| DECLARE_SIGNAL_IN (Ki, dynamicgraph::Vector) |
| joint derivative gains More...
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| DECLARE_SIGNAL_IN (Kp, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_IN (qRef, dynamicgraph::Vector) |
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| DECLARE_SIGNAL_OUT (pwmDes, dynamicgraph::Vector) |
| joint integral gains More...
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| DECLARE_SIGNAL_OUT (qError, dynamicgraph::Vector) |
| Kp*e_q + Kd*de_q + Ki*int(e_q) More...
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virtual void | display (std::ostream &os) const |
| qRef-q More...
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void | init (const double &dt, const std::string &robotRef) |
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void | resetIntegral () |
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void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
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Definition at line 44 of file position-controller.hh.
◆ PositionController()
◆ DECLARE_SIGNAL_IN() [1/7]
DECLARE_SIGNAL_IN |
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base6d_encoders |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [2/7]
DECLARE_SIGNAL_IN |
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dqRef |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [3/7]
DECLARE_SIGNAL_IN |
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jointsVelocities |
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dynamicgraph::Vector |
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) |
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◆ DECLARE_SIGNAL_IN() [4/7]
DECLARE_SIGNAL_IN |
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Kd |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [5/7]
DECLARE_SIGNAL_IN |
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Ki |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [6/7]
DECLARE_SIGNAL_IN |
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Kp |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_IN() [7/7]
DECLARE_SIGNAL_IN |
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qRef |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_OUT() [1/2]
DECLARE_SIGNAL_OUT |
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pwmDes |
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dynamicgraph::Vector |
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◆ DECLARE_SIGNAL_OUT() [2/2]
DECLARE_SIGNAL_OUT |
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qError |
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dynamicgraph::Vector |
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Kp*e_q + Kd*de_q + Ki*int(e_q)
◆ display()
void display |
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std::ostream & |
os | ) |
const |
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virtual |
◆ init()
void init |
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const double & |
dt, |
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const std::string & |
robotRef |
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◆ resetIntegral()
◆ sendMsg()
void sendMsg |
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const std::string & |
msg, |
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MsgType |
t = MSG_TYPE_INFO , |
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const char * |
= "" , |
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int |
= 0 |
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inline |
◆ m_dq
◆ m_dt
◆ m_e_integral
Eigen::VectorXd m_e_integral |
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protected |
◆ m_initSucceeded
◆ m_pwmDes
◆ m_q
◆ m_robot_util
RobotUtilShrPtr m_robot_util |
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protected |
The documentation for this class was generated from the following files: