ctrl_lib::CartesianPositionController Class Reference

#include <CartesianPositionController.hpp>

Inheritance diagram for ctrl_lib::CartesianPositionController:

Public Member Functions
	CartesianPositionController (std::string const &name="ctrl_lib::CartesianPositionController")
	CartesianPositionController (std::string const &name, RTT::ExecutionEngine *engine)
	~CartesianPositionController ()
bool	configureHook ()
bool	startHook ()
void	updateHook ()
void	errorHook ()
void	stopHook ()
void	cleanupHook ()

Protected Member Functions
virtual bool	readFeedback ()
virtual bool	readSetpoint ()
virtual void	updateController ()
virtual const base::VectorXd &	computeActivation (wbc::ActivationFunction &activation_function)

Protected Attributes
base::samples::RigidBodyStateSE3	setpoint
base::samples::RigidBodyStateSE3	control_output
base::samples::RigidBodyStateSE3	feedback
wbc::CartesianPosPDController *	controller

Friends
class	CartesianPositionControllerBase

Detailed Description

PositionControlFeedForward in Cartesian space

Constructor & Destructor Documentation

CartesianPositionController() [1/2]

CartesianPositionController::CartesianPositionController

(

std::string const &

name = "ctrl_lib::CartesianPositionController"

)

CartesianPositionController() [2/2]

CartesianPositionController::CartesianPositionController	(	std::string const &	name,
		RTT::ExecutionEngine *	engine )

~CartesianPositionController()

ctrl_lib::CartesianPositionController::~CartesianPositionController ( )

inline

Member Function Documentation

cleanupHook()

void CartesianPositionController::cleanupHook

(

)

computeActivation()

const base::VectorXd & CartesianPositionController::computeActivation ( wbc::ActivationFunction & activation_function )

protectedvirtual

Compute Activation function

configureHook()

bool CartesianPositionController::configureHook

(

)

errorHook()

void CartesianPositionController::errorHook

(

)

readFeedback()

bool CartesianPositionController::readFeedback ( )

protectedvirtual

Read all feedback values of the controller. Return false if there is no feedback, true otherwise

readSetpoint()

bool CartesianPositionController::readSetpoint ( )

protectedvirtual

Read all setpoints of the controller. Return false if there is no setpoint, true otherwise

startHook()

bool CartesianPositionController::startHook

(

)

stopHook()

void CartesianPositionController::stopHook

(

)

updateController()

void CartesianPositionController::updateController ( )

protectedvirtual

Compute output of the controller

updateHook()

void CartesianPositionController::updateHook

(

)

Friends And Related Symbol Documentation

CartesianPositionControllerBase

friend class CartesianPositionControllerBase

friend

Member Data Documentation

control_output

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianPositionController::control_output

protected

controller

wbc::CartesianPosPDController* ctrl_lib::CartesianPositionController::controller

protected

feedback

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianPositionController::feedback

protected

setpoint

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianPositionController::setpoint

protected

---

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

• tasks/CartesianPositionController.hpp
• tasks/CartesianPositionController.cpp