ctrl_lib::JointTorqueController Class Reference

#include <JointTorqueController.hpp>

Inheritance diagram for ctrl_lib::JointTorqueController:

Public Member Functions
	JointTorqueController (std::string const &name="ctrl_lib::JointTorqueController")
	JointTorqueController (std::string const &name, RTT::ExecutionEngine *engine)
	~JointTorqueController ()
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::JointTorquePIDController *	controller

Friends
class	JointTorqueControllerBase

Detailed Description

PID controller. Dimension of all fields has to be equal to field_names property

Constructor & Destructor Documentation

JointTorqueController() [1/2]

JointTorqueController::JointTorqueController

(

std::string const &

name = "ctrl_lib::JointTorqueController"

)

JointTorqueController() [2/2]

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

~JointTorqueController()

ctrl_lib::JointTorqueController::~JointTorqueController ( )

inline

Member Function Documentation

cleanupHook()

void JointTorqueController::cleanupHook

(

)

computeActivation()

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

protectedvirtual

Compute Activation function

configureHook()

bool JointTorqueController::configureHook

(

)

errorHook()

void JointTorqueController::errorHook

(

)

readFeedback()

bool JointTorqueController::readFeedback ( )

protectedvirtual

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

readSetpoint()

bool JointTorqueController::readSetpoint ( )

protectedvirtual

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

startHook()

bool JointTorqueController::startHook

(

)

stopHook()

void JointTorqueController::stopHook

(

)

updateController()

void JointTorqueController::updateController ( )

protectedvirtual

Compute output of the controller

updateHook()

void JointTorqueController::updateHook

(

)

Friends And Related Symbol Documentation

JointTorqueControllerBase

friend class JointTorqueControllerBase

friend

Member Data Documentation

control_output

base::commands::Joints ctrl_lib::JointTorqueController::control_output

protected

controller

wbc::JointTorquePIDController* ctrl_lib::JointTorqueController::controller

protected

feedback

base::commands::Joints ctrl_lib::JointTorqueController::feedback

protected

setpoint

base::commands::Joints ctrl_lib::JointTorqueController::setpoint

protected

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

• tasks/JointTorqueController.hpp
• tasks/JointTorqueController.cpp