Control_Select Class Reference

Select controller class. More...

#include <control_select.h>

List of all members.

Public Member Functions
	Control_Select ()
	Constructor.
	Control_Select (const std::string &filename)
int	get_dof ()
	Return the degree of freedom.
void	set_control (const std::string &filename)
	Select the proper controller from filename.
Public Attributes
std::string	ControllerName
	Controller name.
Computed_torque_method	ctm
Impedance	impedance
Proportional_Derivative	pd
Resolved_acc	rra
short	space_type
	JOINT_SPACE or CARTESIAN_SPACE.
short	type
	Type of controller: PD, CTM,...
Private Attributes
int	dof
	Degree of freedom.

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Detailed Description

Select controller class.

This class contains an instance of each controller class. The active controller will be selected when reading a controller file. "type" value correspond to the active controller, ex:

• type = NONE : no controller selected
• type = PD : Proportional Derivative
• type = CTM : Computer Torque Method
• type = RRA : Resolved Rate Acceleration
• type = IMP : Impedance

Bellow is an exemple of RRA configuration file (more info on configuration file in config.h/cpp):

  [CONTROLLER]

  type:   RESOLVED_RATE_ACCELERATION
  dof:    6

  [GAINS]

  Kvp:         500.0
  Kpp:        5000.0
  Kvo:         500.0
  Kpo:        5000.0

Definition at line 100 of file control_select.h.

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Constructor & Destructor Documentation

Control_Select::Control_Select

(

)

Constructor.

Definition at line 60 of file control_select.cpp.

Control_Select::Control_Select

(

const std::string &

filename

)

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Member Function Documentation

int Control_Select::get_dof

(

)

Return the degree of freedom.

Definition at line 77 of file control_select.cpp.

void Control_Select::set_control

(

const std::string &

filename

)

Select the proper controller from filename.

Definition at line 83 of file control_select.cpp.

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Member Data Documentation

std::string Control_Select::ControllerName

Controller name.

Definition at line 114 of file control_select.h.

Computed_torque_method Control_Select::ctm

Definition at line 108 of file control_select.h.

int Control_Select::dof [private]

Degree of freedom.

Definition at line 116 of file control_select.h.

Impedance Control_Select::impedance

Definition at line 110 of file control_select.h.

Proportional_Derivative Control_Select::pd

Definition at line 107 of file control_select.h.

Resolved_acc Control_Select::rra

Definition at line 109 of file control_select.h.

short Control_Select::space_type

JOINT_SPACE or CARTESIAN_SPACE.

Definition at line 112 of file control_select.h.

short Control_Select::type

Type of controller: PD, CTM,...

Definition at line 112 of file control_select.h.

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

• control_select.h
• control_select.cpp