orogen/ctrl_lib
CartesianPositionController.hpp
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1/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
2
3#ifndef CTRL_LIB_CARTESIANPOSITIONCONTROLLER_TASK_HPP
4#define CTRL_LIB_CARTESIANPOSITIONCONTROLLER_TASK_HPP
5
6#include "ctrl_lib/CartesianPositionControllerBase.hpp"
7#include <base/samples/RigidBodyStateSE3.hpp>
8#include <wbc/controllers/CartesianPosPDController.hpp>
9
10namespace ctrl_lib {
11
12class CartesianPosPDController;
13
15class CartesianPositionController : public CartesianPositionControllerBase
16{
17 friend class CartesianPositionControllerBase;
18
19public:
20 CartesianPositionController(std::string const& name = "ctrl_lib::CartesianPositionController");
21 CartesianPositionController(std::string const& name, RTT::ExecutionEngine* engine);
23 bool configureHook();
24 bool startHook();
25 void updateHook();
26 void errorHook();
27 void stopHook();
28 void cleanupHook();
29
30protected:
32 virtual bool readFeedback();
34 virtual bool readSetpoint();
36 virtual void updateController();
38 virtual const base::VectorXd& computeActivation(wbc::ActivationFunction& activation_function);
39
40 base::samples::RigidBodyStateSE3 setpoint, control_output, feedback;
41 wbc::CartesianPosPDController* controller;
42};
43}
44
45#endif
46
Definition CartesianPositionController.hpp:16
void cleanupHook()
Definition CartesianPositionController.cpp:51
base::samples::RigidBodyStateSE3 setpoint
Definition CartesianPositionController.hpp:40
bool startHook()
Definition CartesianPositionController.cpp:31
wbc::CartesianPosPDController * controller
Definition CartesianPositionController.hpp:41
void errorHook()
Definition CartesianPositionController.cpp:43
virtual bool readSetpoint()
Definition CartesianPositionController.cpp:65
base::samples::RigidBodyStateSE3 feedback
Definition CartesianPositionController.hpp:40
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition CartesianPositionController.cpp:81
~CartesianPositionController()
Definition CartesianPositionController.hpp:22
virtual bool readFeedback()
Definition CartesianPositionController.cpp:56
CartesianPositionController(std::string const &name="ctrl_lib::CartesianPositionController")
Definition CartesianPositionController.cpp:9
base::samples::RigidBodyStateSE3 control_output
Definition CartesianPositionController.hpp:40
void stopHook()
Definition CartesianPositionController.cpp:47
bool configureHook()
Definition CartesianPositionController.cpp:17
void updateHook()
Definition CartesianPositionController.cpp:39
virtual void updateController()
Definition CartesianPositionController.cpp:74
Definition CartesianForceController.hpp:12