Inheritance diagram for wbc::JointTorquePIDController:

Public Member Functions
	JointTorquePIDController (const std::vector< std::string > &joint_names)

virtual	~JointTorquePIDController ()

const base::commands::Joints &	update (const base::commands::Joints &setpoint, const base::samples::Joints &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
void	extractFeedback (const base::samples::Joints &feedback)

void	extractSetpoint (const base::commands::Joints &setpoint)

Protected Attributes
base::commands::Joints	control_output_joints

std::vector< std::string >	joint_names

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

Constructor & Destructor Documentation

◆ JointTorquePIDController()

wbc::JointTorquePIDController::JointTorquePIDController ( const std::vector< std::string > & joint_names )

virtual wbc::JointTorquePIDController::~JointTorquePIDController ( )

inlinevirtual

void wbc::JointTorquePIDController::extractFeedback ( const base::samples::Joints & feedback )

protected

void wbc::JointTorquePIDController::extractSetpoint ( const base::commands::Joints & setpoint )

protected

const base::commands::Joints & wbc::JointTorquePIDController::update	(	const base::commands::Joints &	setpoint,
		const base::samples::Joints &	feedback,
		const double &	dt )

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

base::commands::Joints wbc::JointTorquePIDController::control_output_joints

protected

std::vector<std::string> wbc::JointTorquePIDController::joint_names

protected

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