wbc::PotentialFieldsController Class Reference

Base class for potential field controllers. More...

#include <PotentialFieldsController.hpp>

Inheritance diagram for wbc::PotentialFieldsController:

Public Member Functions
	PotentialFieldsController (const uint _dimension)
void	applySaturation (const base::VectorXd &in, 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	setFields (const std::vector< PotentialFieldPtr > &_fields)
std::vector< PotentialFieldInfo >	getFieldInfos ()
void	clearFields ()
void	setPGain (const base::VectorXd &gain)
void	setMaxControlOutput (const base::VectorXd &new_max_control_output)
base::VectorXd	getMaxControlOutput ()
base::VectorXd	getPGain ()
const std::vector< PotentialFieldPtr > &	getFields ()
uint	getDimension ()

Protected Attributes
base::VectorXd	p_gain
base::VectorXd	max_ctrl_output
base::VectorXd	control_output
std::vector< PotentialFieldPtr >	fields
std::vector< PotentialFieldInfo >	field_infos
uint	dimension

Detailed Description

Base class for potential field controllers.

Constructor & Destructor Documentation

PotentialFieldsController()

PotentialFieldsController::PotentialFieldsController

(

const uint

_dimension

)

Member Function Documentation

applySaturation()

void PotentialFieldsController::applySaturation	(	const base::VectorXd &	in,
		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.
out	Output vector. Will be resized if out.size() != in.size()

clearFields()

void wbc::PotentialFieldsController::clearFields ( )

inline

Erase all potential fields

getDimension()

uint wbc::PotentialFieldsController::getDimension ( )

inline

return dimensionality of controller

getFieldInfos()

vector< PotentialFieldInfo > PotentialFieldsController::getFieldInfos

(

)

Return potential field infos

getFields()

const std::vector< PotentialFieldPtr > & wbc::PotentialFieldsController::getFields ( )

inline

Return current potential field vector

getMaxControlOutput()

base::VectorXd wbc::PotentialFieldsController::getMaxControlOutput ( )

inline

Return max contorl output vector

getPGain()

base::VectorXd wbc::PotentialFieldsController::getPGain ( )

inline

Return p_gain vector

setFields()

void PotentialFieldsController::setFields

(

const std::vector< PotentialFieldPtr > &

_fields

)

Provide new potential fields. Dimension of each field has to be the same as dimension of the controller.

setMaxControlOutput()

void PotentialFieldsController::setMaxControlOutput

(

const base::VectorXd &

new_max_control_output

)

Set maximum control output

setPGain()

void PotentialFieldsController::setPGain

(

const base::VectorXd &

gain

)

Set proportional gain

Member Data Documentation

control_output

base::VectorXd wbc::PotentialFieldsController::control_output

protected

dimension

uint wbc::PotentialFieldsController::dimension

protected

field_infos

std::vector<PotentialFieldInfo> wbc::PotentialFieldsController::field_infos

protected

fields

std::vector<PotentialFieldPtr> wbc::PotentialFieldsController::fields

protected

max_ctrl_output

base::VectorXd wbc::PotentialFieldsController::max_ctrl_output

protected

p_gain

base::VectorXd wbc::PotentialFieldsController::p_gain

protected

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

• src/controllers/PotentialFieldsController.hpp
• src/controllers/PotentialFieldsController.cpp