wbc/CartesianPotentialFieldsController_8hpp_source.html

#ifndef CARTESIAN_POTENTIAL_FIELDS_CONTROLLER_HPP

#define CARTESIAN_POTENTIAL_FIELDS_CONTROLLER_HPP


#include "PotentialFieldsController.hpp"

#include <base/samples/RigidBodyStateSE3.hpp>


namespace wbc{


class CartesianPotentialFieldsController : public PotentialFieldsController{

protected:

    base::samples::RigidBodyStateSE3 cartesian_control_output;


public:

    CartesianPotentialFieldsController();


    const base::samples::RigidBodyStateSE3& update(const base::samples::RigidBodyStateSE3& feedback);

};


}


#endif

PotentialFieldsController.hpp

wbc::CartesianPotentialFieldsController
The PotentialFieldsController class implements a multi potential field controller in Cartesian space.
Definition CartesianPotentialFieldsController.hpp:12

wbc::CartesianPotentialFieldsController::update
const base::samples::RigidBodyStateSE3 & update(const base::samples::RigidBodyStateSE3 &feedback)
update Compute control output. Saturation will be applied if its has been set
Definition CartesianPotentialFieldsController.cpp:10

wbc::CartesianPotentialFieldsController::CartesianPotentialFieldsController
CartesianPotentialFieldsController()
Definition CartesianPotentialFieldsController.cpp:6

wbc::CartesianPotentialFieldsController::cartesian_control_output
base::samples::RigidBodyStateSE3 cartesian_control_output
Definition CartesianPotentialFieldsController.hpp:14

wbc::PotentialFieldsController
Base class for potential field controllers.
Definition PotentialFieldsController.hpp:12

wbc
Definition ContactsAccelerationConstraint.cpp:3