00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef CONTROL_TOOLBOX__LIMITED_PROXY_H 00035 #define CONTROL_TOOLBOX__LIMITED_PROXY_H 00036 00037 namespace control_toolbox { 00038 00039 class LimitedProxy 00040 { 00041 public: 00042 // Controller parameter values 00043 double mass_; // Estimate of the joint mass 00044 double Kd_; // Damping gain 00045 double Kp_; // Position gain 00046 double Ki_; // Integral gain 00047 double Ficl_; // Integral force clamp 00048 double effort_limit_; // Limit on output force 00049 double vel_limit_; // Limit on velocity 00050 double pos_upper_limit_; // Upper position bound 00051 double pos_lower_limit_; // Lower position bound 00052 double lambda_proxy_; // Bandwidth of proxy reconvergence 00053 double acc_converge_; // Acceleration of proxy reconvergence 00054 00055 00056 LimitedProxy() 00057 : mass_(0.0), Kd_(0.0), Kp_(0.0), Ki_(0.0), Ficl_(0.0), 00058 effort_limit_(0.0), vel_limit_(0.0), 00059 pos_upper_limit_(0.0), pos_lower_limit_(0.0), 00060 lambda_proxy_(0.0), acc_converge_(0.0) 00061 { 00062 } 00063 00064 void reset(double pos_act, double vel_act); 00065 00066 double update(double pos_des, double vel_des, double acc_des, 00067 double pos_act, double vel_act, double dt); 00068 00069 private: 00070 // Controller state values 00071 double last_proxy_pos_; // Proxy position 00072 double last_proxy_vel_; // Proxy velocity 00073 double last_proxy_acc_; // Proxy acceleration 00074 00075 double last_vel_error_; // Velocity error 00076 double last_pos_error_; // Position error 00077 double last_int_error_; // Integral error 00078 }; 00079 00080 } // namespace 00081 00082 #endif