wbc::PosPDController Class Reference

The PosPDController class implements the following two control scemes. More...

#include <PosPDController.hpp>

Inheritance diagram for wbc::PosPDController:

Public Member Functions
	PosPDController (size_t dim_controller)
void	update ()
void	setPGain (const base::VectorXd &gain)
const base::VectorXd &	pGain ()
void	setDGain (const base::VectorXd &gain)
const base::VectorXd &	dGain ()
void	setFFGain (const base::VectorXd &gain)
const base::VectorXd &	ffGain ()
void	setMaxCtrlOutput (const base::VectorXd &max_ctrl_out)
const base::VectorXd &	maxCtrlOutput ()
void	setDeadZone (const base::VectorXd &dz)
const base::VectorXd &	deadZone ()
base::VectorXd	getControlError ()
void	applySaturation (const base::VectorXd &in, const base::VectorXd &max, base::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	applyDeadZone (const base::VectorXd &in, const base::VectorXd &min, base::VectorXd &out)
	Apply dead zone, i.e. minimum position control error. If one of the input value falls below minimum, it will be set to zero. Otherwise dead zone will be subtracted from the input value, to get a smooth transition:

Protected Attributes
size_t	dim_controller
base::VectorXd	p_gain
base::VectorXd	d_gain
base::VectorXd	ff_gain
base::VectorXd	dead_zone
base::VectorXd	max_control_output
base::VectorXd	ref_pos
base::VectorXd	ref_vel
base::VectorXd	ref_acc
base::VectorXd	pos
base::VectorXd	vel
base::VectorXd	acc
base::VectorXd	pos_diff
base::VectorXd	vel_diff
base::VectorXd	control_out_vel
base::VectorXd	control_out_acc

Detailed Description

The PosPDController class implements the following two control scemes.

 u_vel = k_d*v_ref + k_p(x_ref-x)
 u_acc = a_ref + k_d*(v_ref-v) + k_p(x_ref-x)

where x = position v = velocity a = acceleration k_p = position gain k_d = velocity gain u = Control output

The control output contains u1 as velocities and u2 as acceleration.

Constructor & Destructor Documentation

PosPDController()

wbc::PosPDController::PosPDController

(

size_t

dim_controller

)

Member Function Documentation

applyDeadZone()

void wbc::PosPDController::applyDeadZone	(	const base::VectorXd &	in,
		const base::VectorXd &	min,
		base::VectorXd &	out )

Apply dead zone, i.e. minimum position control error. If one of the input value falls below minimum, it will be set to zero. Otherwise dead zone will be subtracted from the input value, to get a smooth transition:

out_i = in_i - min_i if in_i >= min_i = in_i + min_i if in_i <= -min_i = 0 else

Parameters

in	Input Vector. Size has to be same as min.
min	Minimum input vector. Size has to be same as in.
out	Output vector. Will be resized if out.size() != in.size()

applySaturation()

void wbc::PosPDController::applySaturation	(	const base::VectorXd &	in,
		const base::VectorXd &	max,
		base::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()

deadZone()

const base::VectorXd & wbc::PosPDController::deadZone ( )

inline

Get dead zone for the position controller

dGain()

const base::VectorXd & wbc::PosPDController::dGain ( )

inline

Get derivative/velocity gain

ffGain()

const base::VectorXd & wbc::PosPDController::ffGain ( )

inline

Get feedforward gain

getControlError()

base::VectorXd wbc::PosPDController::getControlError ( )

inline

Return position control error

maxCtrlOutput()

const base::VectorXd & wbc::PosPDController::maxCtrlOutput ( )

inline

Get controller saturation

pGain()

const base::VectorXd & wbc::PosPDController::pGain ( )

inline

Get proportional/position gain

setDeadZone()

void wbc::PosPDController::setDeadZone

(

const base::VectorXd &

dz

)

Set dead zone for the position controller. Size has to be the same dimension of the controller

setDGain()

void wbc::PosPDController::setDGain

(

const base::VectorXd &

gain

)

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

setFFGain()

void wbc::PosPDController::setFFGain

(

const base::VectorXd &

gain

)

Set feedforward gain. Size has to be the same dimension of the controller

setMaxCtrlOutput()

void wbc::PosPDController::setMaxCtrlOutput

(

const base::VectorXd &

max_ctrl_out

)

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

setPGain()

void wbc::PosPDController::setPGain

(

const base::VectorXd &

gain

)

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

update()

void wbc::PosPDController::update

(

)

Compute control output and store it in control_out_vel and control_out_acc. Throws if any of the ref or actual position entries is NaN. Ignores NaN ref or actual velocity (disables velocity control) and NaN ref acceleration (disables acceleration feed forward)

Member Data Documentation

acc

base::VectorXd wbc::PosPDController::acc

protected

control_out_acc

base::VectorXd wbc::PosPDController::control_out_acc

protected

control_out_vel

base::VectorXd wbc::PosPDController::control_out_vel

protected

d_gain

base::VectorXd wbc::PosPDController::d_gain

protected

dead_zone

base::VectorXd wbc::PosPDController::dead_zone

protected

dim_controller

size_t wbc::PosPDController::dim_controller

protected

ff_gain

base::VectorXd wbc::PosPDController::ff_gain

protected

max_control_output

base::VectorXd wbc::PosPDController::max_control_output

protected

p_gain

base::VectorXd wbc::PosPDController::p_gain

protected

pos

base::VectorXd wbc::PosPDController::pos

protected

pos_diff

base::VectorXd wbc::PosPDController::pos_diff

protected

ref_acc

base::VectorXd wbc::PosPDController::ref_acc

protected

ref_pos

base::VectorXd wbc::PosPDController::ref_pos

protected

ref_vel

base::VectorXd wbc::PosPDController::ref_vel

protected

vel

base::VectorXd wbc::PosPDController::vel

protected

vel_diff

base::VectorXd wbc::PosPDController::vel_diff

protected

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

• src/controllers/PosPDController.hpp
• src/controllers/PosPDController.cpp