orogen/ctrl_lib
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#include <JointPositionController.hpp>
Public Member Functions | |
JointPositionController (std::string const &name="ctrl_lib::JointPositionController") | |
JointPositionController (std::string const &name, RTT::ExecutionEngine *engine) | |
~JointPositionController () | |
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::commands::Joints | setpoint |
base::commands::Joints | control_output |
base::commands::Joints | feedback |
wbc::JointPosPDController * | controller |
Friends | |
class | JointPositionControllerBase |
PositionControlFeedForward in joint space. See wbc/controllers/PositionControlFeedForward.hpp for details
JointPositionController::JointPositionController | ( | std::string const & | name = "ctrl_lib::JointPositionController" | ) |
JointPositionController::JointPositionController | ( | std::string const & | name, |
RTT::ExecutionEngine * | engine ) |
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inline |
void JointPositionController::cleanupHook | ( | ) |
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protectedvirtual |
Compute Activation function
bool JointPositionController::configureHook | ( | ) |
void JointPositionController::errorHook | ( | ) |
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protectedvirtual |
Read all feedback values of the controller. Return false if there is no feedback, true otherwise
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protectedvirtual |
Read all setpoints of the controller. Return false if there is no setpoint, true otherwise
bool JointPositionController::startHook | ( | ) |
void JointPositionController::stopHook | ( | ) |
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protectedvirtual |
Compute output of the controller
void JointPositionController::updateHook | ( | ) |
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friend |
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protected |
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protected |
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protected |
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protected |