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

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

wbc::WrenchPIDController::WrenchPIDController ( )

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()

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

protected

types::RigidBodyState wbc::WrenchPIDController::control_output_wrench

protected

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