wbc::CartesianPotentialFieldsController Class Reference

The PotentialFieldsController class implements a multi potential field controller in Cartesian space. More...

#include <CartesianPotentialFieldsController.hpp>

Inheritance diagram for wbc::CartesianPotentialFieldsController:

Public Member Functions
	CartesianPotentialFieldsController ()
const types::RigidBodyState &	update (const types::RigidBodyState &feedback)
	update Compute control output. Saturation will be applied if its has been set
Public Member Functions inherited from wbc::PotentialFieldsController
	PotentialFieldsController (const uint _dimension)
void	applySaturation (const Eigen::VectorXd &in, Eigen::VectorXd &out)
	Apply Saturation on the control output. If one or more values of <in> are bigger than the Corrresponding entry of <max>, all values will be scaled down according to the biggest ratio eta = in_i / max,i.
void	setFields (const std::vector< PotentialFieldPtr > &_fields)
std::vector< PotentialFieldInfo >	getFieldInfos ()
void	clearFields ()
void	setPGain (const Eigen::VectorXd &gain)
void	setMaxControlOutput (const Eigen::VectorXd &new_max_control_output)
Eigen::VectorXd	getMaxControlOutput ()
Eigen::VectorXd	getPGain ()
const std::vector< PotentialFieldPtr > &	getFields ()
uint	getDimension ()

Protected Attributes
types::RigidBodyState	cartesian_control_output
Protected Attributes inherited from wbc::PotentialFieldsController
Eigen::VectorXd	p_gain
Eigen::VectorXd	max_ctrl_output
Eigen::VectorXd	control_output
std::vector< PotentialFieldPtr >	fields
std::vector< PotentialFieldInfo >	field_infos
uint	dimension

Detailed Description

The PotentialFieldsController class implements a multi potential field controller in Cartesian space.

Constructor & Destructor Documentation

CartesianPotentialFieldsController()

CartesianPotentialFieldsController::CartesianPotentialFieldsController

(

)

Member Function Documentation

update()

const types::RigidBodyState & CartesianPotentialFieldsController::update

(

const types::RigidBodyState &

feedback

)

update Compute control output. Saturation will be applied if its has been set

Returns

control_output Control output

Member Data Documentation

cartesian_control_output

types::RigidBodyState wbc::CartesianPotentialFieldsController::cartesian_control_output

protected

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

• src/controllers/CartesianPotentialFieldsController.hpp
• src/controllers/CartesianPotentialFieldsController.cpp