CartesianForcePIDController implements a PID Controller on a Wrench data type. More...

Inheritance diagram for wbc::CartesianForcePIDController:

Public Member Functions
	CartesianForcePIDController ()

const base::samples::RigidBodyStateSE3 &	update (const base::samples::Wrench &setpoint, const base::samples::Wrench &feedback, const double dt)

Public Member Functions inherited from wbc::PIDController
	PIDController (uint dimension)

virtual	~PIDController ()

void	update (const double delta_t)

void	setPID (const PIDCtrlParams &params)

const PIDCtrlParams &	getPID ()

void	setMaxCtrlOutput (const base::VectorXd &max)

const base::VectorXd &	maxCtrlOutput ()

void	setDeadZone (const base::VectorXd &dz)

const base::VectorXd &	deadZone ()

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)

uint	getDimension ()

base::VectorXd	getControlError ()

virtual const base::VectorXd &	computeDerivative (const double delta_t)

Protected Member Functions
const base::VectorXd	wrenchToRaw (const base::samples::Wrench &wrench, base::VectorXd &raw)

Protected Attributes
base::samples::RigidBodyStateSE3	control_output_wrench

Protected Attributes inherited from wbc::PIDController
PIDCtrlParams	pid_params

uint	dimension

base::VectorXd	control_error

base::VectorXd	prev_control_error

base::VectorXd	dead_zone

base::VectorXd	max_ctrl_output

base::VectorXd	integral

base::VectorXd	derivative

base::VectorXd	control_output

base::VectorXd	setpoint

base::VectorXd	feedback

Detailed Description

CartesianForcePIDController implements a PID Controller on a Wrench data type.

Constructor & Destructor Documentation

wbc::CartesianForcePIDController::CartesianForcePIDController ( )

const base::samples::RigidBodyStateSE3 & wbc::CartesianForcePIDController::update	(	const base::samples::Wrench &	setpoint,
		const base::samples::Wrench &	feedback,
		const double	dt )

Convert typed to raw input data and call PIDController::update()

const base::VectorXd wbc::CartesianForcePIDController::wrenchToRaw	(	const base::samples::Wrench &	wrench,
		base::VectorXd &	raw )

protected

base::samples::RigidBodyStateSE3 wbc::CartesianForcePIDController::control_output_wrench

protected

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