wbc::JointPosPDController Class Reference

The JointPosPDController class implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available: More...

#include <JointPosPDController.hpp>

Public Member Functions
	JointPosPDController (uint dim)
const Eigen::VectorXd &	update (const Eigen::VectorXd &ref_pos, const Eigen::VectorXd &ref_vel, const Eigen::VectorXd &pos)
	Compute velocity level control output.
const Eigen::VectorXd &	update (const Eigen::VectorXd &ref_pos, const Eigen::VectorXd &ref_vel, const Eigen::VectorXd &ref_acc, const Eigen::VectorXd &pos, const Eigen::VectorXd &vel)
	Compute acceleration level control output.
void	setPGain (const Eigen::VectorXd &gain)
const Eigen::VectorXd &	pGain ()
void	setDGain (const Eigen::VectorXd &gain)
const Eigen::VectorXd &	dGain ()
void	setMaxCtrlOutput (const Eigen::VectorXd &max_ctrl_out)
const Eigen::VectorXd &	maxCtrlOutput ()
void	applySaturation (const Eigen::VectorXd &in, const Eigen::VectorXd &max, 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.

Protected Attributes
uint	dim_controller
Eigen::VectorXd	p_gain
Eigen::VectorXd	d_gain
Eigen::VectorXd	u_max
Eigen::VectorXd	u

Detailed Description

The JointPosPDController class implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available:

1. Velocity Output: \(\dot{\mathbf{q}}_d = \mathbf{K}_d\dot{\mathbf{q}}_r + \mathbf{K}_pe\)
2. Acceleration Output: \(\ddot{\mathbf{q}}_d = \mathbf{K}_{ff}\ddot{\mathbf{e}} + \mathbf{K}_d\dot{\mathbf{e}} + \mathbf{K}_p\mathbf{e}\),

where \( \mathbf{e} = \mathbf{q}_r-\mathbf{q} \), \( \dot{\mathbf{e}} = \dot{\mathbf{q}}_r-\dot{\mathbf{q}} \) and \( \ddot{\mathbf{e}} = \ddot{\mathbf{q}}_r-\ddot{\mathbf{q}} \)

\( \mathbf{q},\mathbf{q}_r \) - Actual and reference joint position
\( \dot{\mathbf{q}},\dot{\mathbf{q}}_r \) - Actual and reference joint velocity
\( \ddot{\mathbf{q}},\ddot{\mathbf{q}}_r \) - Actual and reference joint acceleration
\( \mathbf{K}_d,\mathbf{K}_p \) - Derivative and proportial gain matrices
\( \mathbf{K}_{ff} \) - Feed forward gain matrix
\( \ddot{\mathbf{q}}_d,\dot{\mathbf{q}}_d \) - Control output, desired acceleration or velocity

Note: If an input is NaN, it might be ignored by the controller. E.g. if the reference or actual velocity is none, the velocity error will be set to zero in the controller

Constructor & Destructor Documentation

JointPosPDController()

wbc::JointPosPDController::JointPosPDController

(

uint

dim

)

Member Function Documentation

applySaturation()

void wbc::JointPosPDController::applySaturation	(	const Eigen::VectorXd &	in,
		const Eigen::VectorXd &	max,
		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.

Parameters

in	Input vector. Size has to be same as max.
max	Maximum allowed value for input vector. Size has to be same as in.
out	Output vector. Will be resized if out.size() != in.size()

dGain()

const Eigen::VectorXd & wbc::JointPosPDController::dGain ( )

inline

Get derivative/velocity gain

maxCtrlOutput()

const Eigen::VectorXd & wbc::JointPosPDController::maxCtrlOutput ( )

inline

Get controller saturation

pGain()

const Eigen::VectorXd & wbc::JointPosPDController::pGain ( )

inline

Get proportional/position gain

setDGain()

void wbc::JointPosPDController::setDGain

(

const Eigen::VectorXd &

gain

)

Set derivative/velocity gain. Size has to be the same dimension of the controller

setMaxCtrlOutput()

void wbc::JointPosPDController::setMaxCtrlOutput

(

const Eigen::VectorXd &

max_ctrl_out

)

Set controller saturation. Size has to be the same dimension of the controller

setPGain()

void wbc::JointPosPDController::setPGain

(

const Eigen::VectorXd &

gain

)

Set proportional/position gain. Size has to be the same dimension of the controller

update() [1/2]

const Eigen::VectorXd & wbc::JointPosPDController::update	(	const Eigen::VectorXd &	ref_pos,
		const Eigen::VectorXd &	ref_vel,
		const Eigen::VectorXd &	pos )

Compute velocity level control output.

update() [2/2]

const Eigen::VectorXd & wbc::JointPosPDController::update	(	const Eigen::VectorXd &	ref_pos,
		const Eigen::VectorXd &	ref_vel,
		const Eigen::VectorXd &	ref_acc,
		const Eigen::VectorXd &	pos,
		const Eigen::VectorXd &	vel )

Compute acceleration level control output.

Member Data Documentation

d_gain

Eigen::VectorXd wbc::JointPosPDController::d_gain

protected

dim_controller

uint wbc::JointPosPDController::dim_controller

protected

p_gain

Eigen::VectorXd wbc::JointPosPDController::p_gain

protected

u

Eigen::VectorXd wbc::JointPosPDController::u

protected

u_max

Eigen::VectorXd wbc::JointPosPDController::u_max

protected

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

• src/controllers/JointPosPDController.hpp
• src/controllers/JointPosPDController.cpp