ctrl_lib::JointLimitAvoidance Class Reference

#include <JointLimitAvoidance.hpp>

Inheritance diagram for ctrl_lib::JointLimitAvoidance:

Public Member Functions
	JointLimitAvoidance (std::string const &name="ctrl_lib::JointLimitAvoidance")
	JointLimitAvoidance (std::string const &name, RTT::ExecutionEngine *engine)
	~JointLimitAvoidance ()
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::JointLimits	joint_limits
base::samples::Joints	feedback
base::VectorXd	position_raw
base::commands::Joints	control_output
base::VectorXd	influence_distance
wbc::JointLimitAvoidanceController *	controller

Friends
class	JointLimitAvoidanceBase

Detailed Description

RadialPotentialFields in joint space. Each joint will have one 1-dimensional potential field. See wbc/controllers/RadialPotentialField.hpp and wbc/controllers/PotentialFieldsController.hpp for details

Constructor & Destructor Documentation

JointLimitAvoidance() [1/2]

JointLimitAvoidance::JointLimitAvoidance

(

std::string const &

name = "ctrl_lib::JointLimitAvoidance"

)

JointLimitAvoidance() [2/2]

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

~JointLimitAvoidance()

ctrl_lib::JointLimitAvoidance::~JointLimitAvoidance ( )

inline

Member Function Documentation

cleanupHook()

void JointLimitAvoidance::cleanupHook

(

)

computeActivation()

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

protectedvirtual

Compute Activation function

configureHook()

bool JointLimitAvoidance::configureHook

(

)

errorHook()

void JointLimitAvoidance::errorHook

(

)

readFeedback()

bool JointLimitAvoidance::readFeedback ( )

protectedvirtual

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

readSetpoint()

bool JointLimitAvoidance::readSetpoint ( )

protectedvirtual

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

startHook()

bool JointLimitAvoidance::startHook

(

)

stopHook()

void JointLimitAvoidance::stopHook

(

)

updateController()

void JointLimitAvoidance::updateController ( )

protectedvirtual

Compute output of the controller

updateHook()

void JointLimitAvoidance::updateHook

(

)

Friends And Related Symbol Documentation

JointLimitAvoidanceBase

friend class JointLimitAvoidanceBase

friend

Member Data Documentation

control_output

base::commands::Joints ctrl_lib::JointLimitAvoidance::control_output

protected

controller

wbc::JointLimitAvoidanceController* ctrl_lib::JointLimitAvoidance::controller

protected

feedback

base::samples::Joints ctrl_lib::JointLimitAvoidance::feedback

protected

influence_distance

base::VectorXd ctrl_lib::JointLimitAvoidance::influence_distance

protected

joint_limits

base::JointLimits ctrl_lib::JointLimitAvoidance::joint_limits

protected

position_raw

base::VectorXd ctrl_lib::JointLimitAvoidance::position_raw

protected

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

• tasks/JointLimitAvoidance.hpp
• tasks/JointLimitAvoidance.cpp