ctrl_lib::CartesianRadialPotentialFields Class Reference

#include <CartesianRadialPotentialFields.hpp>

Inheritance diagram for ctrl_lib::CartesianRadialPotentialFields:

Public Member Functions
	CartesianRadialPotentialFields (std::string const &name="ctrl_lib::CartesianRadialPotentialFields")
	CartesianRadialPotentialFields (std::string const &name, RTT::ExecutionEngine *engine)
	~CartesianRadialPotentialFields ()
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
double	influence_distance
base::samples::RigidBodyStateSE3	control_output
base::samples::RigidBodyStateSE3	feedback
std::vector< base::samples::RigidBodyState >	pot_field_centers
wbc::PotentialFieldsController *	controller
std::vector< wbc::PotentialFieldInfo >	field_infos

Friends
class	CartesianRadialPotentialFieldsBase

Detailed Description

RadialPotentialFields in Cartesian space. Dimension of all fields has to be 3! See wbc/controllers/RadialPotentialField.hpp and wbc/controllers/PotentialFieldsController.hpp for details

Constructor & Destructor Documentation

CartesianRadialPotentialFields() [1/2]

CartesianRadialPotentialFields::CartesianRadialPotentialFields

(

std::string const &

name = "ctrl_lib::CartesianRadialPotentialFields"

)

CartesianRadialPotentialFields() [2/2]

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

~CartesianRadialPotentialFields()

ctrl_lib::CartesianRadialPotentialFields::~CartesianRadialPotentialFields ( )

inline

Member Function Documentation

cleanupHook()

void CartesianRadialPotentialFields::cleanupHook

(

)

computeActivation()

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

protectedvirtual

Compute Activation function

configureHook()

bool CartesianRadialPotentialFields::configureHook

(

)

errorHook()

void CartesianRadialPotentialFields::errorHook

(

)

readFeedback()

bool CartesianRadialPotentialFields::readFeedback ( )

protectedvirtual

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

readSetpoint()

bool CartesianRadialPotentialFields::readSetpoint ( )

protectedvirtual

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

startHook()

bool CartesianRadialPotentialFields::startHook

(

)

stopHook()

void CartesianRadialPotentialFields::stopHook

(

)

updateController()

void CartesianRadialPotentialFields::updateController ( )

protectedvirtual

Compute output of the controller

updateHook()

void CartesianRadialPotentialFields::updateHook

(

)

Friends And Related Symbol Documentation

CartesianRadialPotentialFieldsBase

friend class CartesianRadialPotentialFieldsBase

friend

Member Data Documentation

control_output

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianRadialPotentialFields::control_output

protected

controller

wbc::PotentialFieldsController* ctrl_lib::CartesianRadialPotentialFields::controller

protected

feedback

base::samples::RigidBodyStateSE3 ctrl_lib::CartesianRadialPotentialFields::feedback

protected

field_infos

std::vector<wbc::PotentialFieldInfo> ctrl_lib::CartesianRadialPotentialFields::field_infos

protected

influence_distance

double ctrl_lib::CartesianRadialPotentialFields::influence_distance

protected

pot_field_centers

std::vector<base::samples::RigidBodyState> ctrl_lib::CartesianRadialPotentialFields::pot_field_centers

protected

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

• tasks/CartesianRadialPotentialFields.hpp
• tasks/CartesianRadialPotentialFields.cpp