wbc::WrenchPIDController Class Reference

CartesianForcePIDController implements a PID Controller on a Wrench data type. More...

#include <WrenchPIDController.hpp>

Inheritance diagram for wbc::WrenchPIDController:

Public Member Functions
	WrenchPIDController ()
const types::RigidBodyState &	update (const types::Wrench &setpoint, const types::Wrench &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 Eigen::VectorXd &max)
const Eigen::VectorXd &	maxCtrlOutput ()
void	setDeadZone (const Eigen::VectorXd &dz)
const Eigen::VectorXd &	deadZone ()
void	applySaturation (const Eigen::VectorXd &in, const Eigen::VectorXd &max, Eigen::VectorXd &out)
void	applyDeadZone (const Eigen::VectorXd &in, const Eigen::VectorXd &min, Eigen::VectorXd &out)
uint	getDimension ()
Eigen::VectorXd	getControlError ()
virtual const Eigen::VectorXd &	computeDerivative (const double delta_t)

Protected Member Functions
const Eigen::VectorXd	wrenchToRaw (const types::Wrench &wrench, Eigen::VectorXd &raw)

Protected Attributes
types::RigidBodyState	control_output_wrench
Protected Attributes inherited from wbc::PIDController
PIDCtrlParams	pid_params
uint	dimension
Eigen::VectorXd	control_error
Eigen::VectorXd	prev_control_error
Eigen::VectorXd	dead_zone
Eigen::VectorXd	max_ctrl_output
Eigen::VectorXd	integral
Eigen::VectorXd	derivative
Eigen::VectorXd	control_output
Eigen::VectorXd	setpoint
Eigen::VectorXd	feedback

Detailed Description

CartesianForcePIDController implements a PID Controller on a Wrench data type.

Constructor & Destructor Documentation

WrenchPIDController()

wbc::WrenchPIDController::WrenchPIDController

(

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Member Function Documentation

update()

const types::RigidBodyState & wbc::WrenchPIDController::update	(	const types::Wrench &	setpoint,
		const types::Wrench &	feedback,
		const double	dt )

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

wrenchToRaw()

const Eigen::VectorXd wbc::WrenchPIDController::wrenchToRaw ( const types::Wrench & wrench, Eigen::VectorXd & raw )

protected

Member Data Documentation

control_output_wrench

types::RigidBodyState wbc::WrenchPIDController::control_output_wrench

protected

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

• src/controllers/WrenchPIDController.hpp
• src/controllers/WrenchPIDController.cpp