Classes | Namespaces
srh_mixed_position_velocity_controller.hpp File Reference

Compute a velocity demand from the position error using a PID loop. The velocity demand is then converted into a force demand by a second PID loop and is sent to the motor. More...

#include <sr_mechanism_controllers/sr_controller.hpp>
#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>
#include <sr_robot_msgs/JointControllerState.h>
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Classes

class  controller::SrhMixedPositionVelocityJointController

Namespaces

namespace  controller

Detailed Description

Compute a velocity demand from the position error using a PID loop. The velocity demand is then converted into a force demand by a second PID loop and is sent to the motor.

Author:
Ugo Cupcic <ugo@shadowrobot.com>
Date:
Wed Aug 17 12:32:01 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file srh_mixed_position_velocity_controller.hpp.



sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:06:50