wbc/WrenchPIDController_8hpp_source.html

#ifndef WBC_CONTROLLERS_WRENCHPIDCONTROLLER_HPP

#define WBC_CONTROLLERS_WRENCHPIDCONTROLLER_HPP


#include "PIDController.hpp"

#include "../types/Wrench.hpp"

#include "../types/RigidBodyState.hpp"


namespace wbc {


class WrenchPIDController : public PIDController{

protected:

    types::RigidBodyState control_output_wrench;


    const Eigen::VectorXd wrenchToRaw(const types::Wrench& wrench, Eigen::VectorXd& raw);


public:

    WrenchPIDController();


    const types::RigidBodyState& update(const types::Wrench& setpoint, const types::Wrench& feedback, const double dt);

};


}


#endif // WBC_CONTROLLERS_WRENCHPIDCONTROLLER_HPP

PIDController.hpp

RigidBodyState.hpp

Wrench.hpp

wbc::PIDController::feedback
Eigen::VectorXd feedback
Definition PIDController.hpp:42

wbc::PIDController::PIDController
PIDController(uint dimension)
Definition PIDController.cpp:8

wbc::PIDController::setpoint
Eigen::VectorXd setpoint
Definition PIDController.hpp:41

wbc::WrenchPIDController::WrenchPIDController
WrenchPIDController()
Definition WrenchPIDController.cpp:5

wbc::WrenchPIDController::update
const types::RigidBodyState & update(const types::Wrench &setpoint, const types::Wrench &feedback, const double dt)
Definition WrenchPIDController.cpp:17

wbc::WrenchPIDController::control_output_wrench
types::RigidBodyState control_output_wrench
Definition WrenchPIDController.hpp:15

wbc::WrenchPIDController::wrenchToRaw
const Eigen::VectorXd wrenchToRaw(const types::Wrench &wrench, Eigen::VectorXd &raw)
Definition WrenchPIDController.cpp:10

wbc::types::RigidBodyState
Definition RigidBodyState.hpp:10

wbc::types::Wrench
Definition Wrench.hpp:8

wbc
Definition ContactsAccelerationConstraint.cpp:3