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()

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.

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

• include/sot/torque_control/motor-model.hh
• src/motor-model.cpp