#include <PDcontroller.h>
Public Member Functions | |
| virtual RTC::ReturnCode_t | onActivated (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onDeactivated (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onExecute (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onInitialize () |
| PDcontroller (RTC::Manager *manager) | |
| ~PDcontroller () | |
Protected Attributes | |
| TimedDoubleSeq | m_angle |
| InPort< TimedDoubleSeq > | m_angleIn |
| TimedDoubleSeq | m_angleRef |
| InPort< TimedDoubleSeq > | m_angleRefIn |
| TimedDoubleSeq | m_torque |
| OutPort< TimedDoubleSeq > | m_torqueOut |
Private Member Functions | |
| void | readGainFile () |
Private Attributes | |
| hrp::dvector | Dgain |
| size_t | dof |
| double | dt |
| int | dummy |
| std::ifstream | gain |
| std::string | gain_fname |
| size_t | loop |
| unsigned int | m_debugLevel |
| hrp::BodyPtr | m_robot |
| int | nstep |
| hrp::dvector | Pgain |
| hrp::dvector | qold |
| hrp::dvector | qold_ref |
| double | ref_dt |
| int | step |
| hrp::dvector | tlimit_ratio |
Detailed Description
Definition at line 39 of file PDcontroller.h.
Constructor & Destructor Documentation
| PDcontroller::PDcontroller | ( | RTC::Manager * | manager | ) |
Definition at line 35 of file PDcontroller.cpp.
Definition at line 49 of file PDcontroller.cpp.
Member Function Documentation
| RTC::ReturnCode_t PDcontroller::onActivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 122 of file PDcontroller.cpp.
| RTC::ReturnCode_t PDcontroller::onDeactivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 135 of file PDcontroller.cpp.
| RTC::ReturnCode_t PDcontroller::onExecute | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 142 of file PDcontroller.cpp.
| RTC::ReturnCode_t PDcontroller::onInitialize | ( | void | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 54 of file PDcontroller.cpp.
| void PDcontroller::readGainFile | ( | ) | [private] |
Definition at line 187 of file PDcontroller.cpp.
Member Data Documentation
hrp::dvector PDcontroller::Dgain [private] |
Definition at line 140 of file PDcontroller.h.
size_t PDcontroller::dof [private] |
Definition at line 141 of file PDcontroller.h.
double PDcontroller::dt [private] |
Definition at line 134 of file PDcontroller.h.
int PDcontroller::dummy [private] |
Definition at line 143 of file PDcontroller.h.
std::ifstream PDcontroller::gain [private] |
Definition at line 138 of file PDcontroller.h.
std::string PDcontroller::gain_fname [private] |
Definition at line 139 of file PDcontroller.h.
size_t PDcontroller::loop [private] |
Definition at line 141 of file PDcontroller.h.
TimedDoubleSeq PDcontroller::m_angle [protected] |
Definition at line 102 of file PDcontroller.h.
InPort<TimedDoubleSeq> PDcontroller::m_angleIn [protected] |
Definition at line 103 of file PDcontroller.h.
TimedDoubleSeq PDcontroller::m_angleRef [protected] |
Definition at line 104 of file PDcontroller.h.
InPort<TimedDoubleSeq> PDcontroller::m_angleRefIn [protected] |
Definition at line 105 of file PDcontroller.h.
unsigned int PDcontroller::m_debugLevel [private] |
Definition at line 142 of file PDcontroller.h.
hrp::BodyPtr PDcontroller::m_robot [private] |
Definition at line 133 of file PDcontroller.h.
TimedDoubleSeq PDcontroller::m_torque [protected] |
Definition at line 111 of file PDcontroller.h.
OutPort<TimedDoubleSeq> PDcontroller::m_torqueOut [protected] |
Definition at line 112 of file PDcontroller.h.
int PDcontroller::nstep [private] |
Definition at line 137 of file PDcontroller.h.
hrp::dvector PDcontroller::Pgain [private] |
Definition at line 140 of file PDcontroller.h.
hrp::dvector PDcontroller::qold [private] |
Definition at line 140 of file PDcontroller.h.
hrp::dvector PDcontroller::qold_ref [private] |
Definition at line 140 of file PDcontroller.h.
double PDcontroller::ref_dt [private] |
Definition at line 135 of file PDcontroller.h.
int PDcontroller::step [private] |
Definition at line 136 of file PDcontroller.h.
hrp::dvector PDcontroller::tlimit_ratio [private] |
Definition at line 140 of file PDcontroller.h.
The documentation for this class was generated from the following files: