PosPDController.hpp

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#ifndef POS_PD_CONTROLLER
#define POS_PD_CONTROLLER
 
#include <base/Eigen.hpp>
 
namespace wbc {
 
class PosPDController{
protected:
    size_t dim_controller;
    base::VectorXd p_gain;
    base::VectorXd d_gain;
    base::VectorXd ff_gain;
    base::VectorXd dead_zone;
    base::VectorXd max_control_output;
    base::VectorXd ref_pos, ref_vel, ref_acc;
    base::VectorXd pos, vel, acc;
    base::VectorXd pos_diff, vel_diff;
    base::VectorXd control_out_vel, control_out_acc;
 
public:
    PosPDController(size_t dim_controller);
 
    void update();
    void setPGain(const base::VectorXd &gain);
    const base::VectorXd& pGain(){return p_gain;}
    void setDGain(const base::VectorXd &gain);
    const base::VectorXd& dGain(){return d_gain;}
    void setFFGain(const base::VectorXd &gain);
    const base::VectorXd& ffGain(){return ff_gain;}
    void setMaxCtrlOutput(const base::VectorXd &max_ctrl_out);
    const base::VectorXd& maxCtrlOutput(){return max_control_output;}
    void setDeadZone(const base::VectorXd &dz);
    const base::VectorXd& deadZone(){return dead_zone;}
    base::VectorXd getControlError(){return pos_diff;}
    void applySaturation(const base::VectorXd& in, const base::VectorXd& max, base::VectorXd &out);
    void applyDeadZone(const base::VectorXd& in, const base::VectorXd& min, base::VectorXd& out);
};
}
 
#endif