cob_twist_controller::ControllerInterfacePositionBase Class Reference

Base class for controller interfaces using position integration. More...

#include <controller_interface_base.h>

Inheritance diagram for cob_twist_controller::ControllerInterfacePositionBase:

List of all members.

Public Member Functions
bool	updateIntegration (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfacePositionBase ()
Protected Member Functions
	ControllerInterfacePositionBase ()
Protected Attributes
boost::shared_ptr < SimpsonIntegrator >	integrator_
ros::Time	last_update_time_
ros::Duration	period_
std::vector< double >	pos_
std::vector< double >	vel_

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Detailed Description

Base class for controller interfaces using position integration.

Definition at line 50 of file controller_interface_base.h.

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Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfacePositionBase::~ControllerInterfacePositionBase

(

)

[inline]

Definition at line 53 of file controller_interface_base.h.

cob_twist_controller::ControllerInterfacePositionBase::ControllerInterfacePositionBase

(

)

[inline, protected]

Definition at line 65 of file controller_interface_base.h.

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Member Function Documentation

bool cob_twist_controller::ControllerInterfacePositionBase::updateIntegration	(	const KDL::JntArray &	q_dot_ik,
		const KDL::JntArray &	current_q
	)		[inline]

Definition at line 55 of file controller_interface_base.h.

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Member Data Documentation

boost::shared_ptr<SimpsonIntegrator> cob_twist_controller::ControllerInterfacePositionBase::integrator_ [protected]

Definition at line 67 of file controller_interface_base.h.

ros::Time cob_twist_controller::ControllerInterfacePositionBase::last_update_time_ [protected]

Definition at line 69 of file controller_interface_base.h.

ros::Duration cob_twist_controller::ControllerInterfacePositionBase::period_ [protected]

Definition at line 70 of file controller_interface_base.h.

std::vector<double> cob_twist_controller::ControllerInterfacePositionBase::pos_ [protected]

Definition at line 68 of file controller_interface_base.h.

std::vector<double> cob_twist_controller::ControllerInterfacePositionBase::vel_ [protected]

Definition at line 68 of file controller_interface_base.h.

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

• controller_interface_base.h