orogen/ctrl_lib
JointPositionController.hpp
Go to the documentation of this file.
1/* Generated from orogen/lib/orogen/templates/tasks/Task.hpp */
2
3#ifndef CTRL_LIB_JOINTPOSITIONCONTROLLER_TASK_HPP
4#define CTRL_LIB_JOINTPOSITIONCONTROLLER_TASK_HPP
5
6#include "ctrl_lib/JointPositionControllerBase.hpp"
7#include <base/commands/Joints.hpp>
8#include <wbc/controllers/JointPosPDController.hpp>
9
10namespace ctrl_lib {
11
12class JointPosPDController;
13
15class JointPositionController : public JointPositionControllerBase
16{
17 friend class JointPositionControllerBase;
18
19public:
20 JointPositionController(std::string const& name = "ctrl_lib::JointPositionController");
21 JointPositionController(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::commands::Joints setpoint, control_output, feedback;
41 wbc::JointPosPDController* controller;
42};
43}
44
45#endif
46
Definition JointPositionController.hpp:16
~JointPositionController()
Definition JointPositionController.hpp:22
bool configureHook()
Definition JointPositionController.cpp:17
virtual bool readFeedback()
Definition JointPositionController.cpp:56
virtual const base::VectorXd & computeActivation(wbc::ActivationFunction &activation_function)
Definition JointPositionController.cpp:81
base::commands::Joints feedback
Definition JointPositionController.hpp:40
base::commands::Joints control_output
Definition JointPositionController.hpp:40
wbc::JointPosPDController * controller
Definition JointPositionController.hpp:41
virtual bool readSetpoint()
Definition JointPositionController.cpp:65
bool startHook()
Definition JointPositionController.cpp:31
virtual void updateController()
Definition JointPositionController.cpp:74
JointPositionController(std::string const &name="ctrl_lib::JointPositionController")
Definition JointPositionController.cpp:9
void errorHook()
Definition JointPositionController.cpp:43
base::commands::Joints setpoint
Definition JointPositionController.hpp:40
void stopHook()
Definition JointPositionController.cpp:47
void cleanupHook()
Definition JointPositionController.cpp:51
void updateHook()
Definition JointPositionController.cpp:39
Definition CartesianForceController.hpp:12