TwoDofControllerPDModel.h
Go to the documentation of this file.
00001 // -*- C++ -*-
00010 #ifndef TWO_DOF_CONTROLLER_PDMODEL_H
00011 #define TWO_DOF_CONTROLLER_PDMODEL_H
00012 
00013 // </rtc-template>
00014 
00015 #include "../Stabilizer/TwoDofController.h"
00016 #include "Convolution.h"
00017 #include <vector>
00018 
00019 class TwoDofControllerPDModel : public TwoDofControllerInterface {
00020 public:
00021   class TwoDofControllerPDModelParam {
00022   public:
00023     TwoDofControllerPDModelParam() {
00024       ke = kd = tc = dt = 0.0; // set default param
00025     }
00026     ~TwoDofControllerPDModelParam() {
00027     }
00028     static int getControllerParamNum() {
00029       return 3;
00030     }
00031     double ke; // Pgain
00032     double kd; // Dgain
00033     double tc; // time constant
00034     double dt; // control cycle (not controller but system parameter)
00035   };
00036   TwoDofControllerPDModel();
00037   TwoDofControllerPDModel(TwoDofControllerPDModelParam &_param, unsigned int _range = 0);
00038   ~TwoDofControllerPDModel();
00039   void setup();
00040   void setup(TwoDofControllerPDModelParam &_param, unsigned int _range = 0);
00041   void reset();
00042   double update(double _x, double _xd);
00043   bool getParameter();
00044   bool getParameter(TwoDofControllerPDModelParam &_p);
00045 private:
00046   TwoDofControllerPDModelParam param;
00047   double current_time;
00048   std::vector<Convolution> convolutions;
00049 };
00050 
00051 #endif // TWO_DOF_CONTROLLER_PDMODEL_H


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:56