Public Member Functions | Private Attributes
Proportional_Derivative Class Reference

Proportional derivative controller class. More...

#include <controller.h>

List of all members.

Public Member Functions

 Proportional_Derivative (const short dof=1)
 Constructor.
 Proportional_Derivative (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)
 Constructor.
short set_Kd (const DiagonalMatrix &Kd)
 Assign the velocity error gain matrix $K_p(i,i)$.
short set_Kp (const DiagonalMatrix &Kp)
 Assign the position error gain matrix $K_p(i,i)$.
ReturnMatrix torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
 Output torque.

Private Attributes

int dof
 Degree of freedom.
DiagonalMatrix Kd
 Velocity error gain.
DiagonalMatrix Kp
 Position error gain.
ColumnVector q
 Robot joints positions.
ColumnVector qp
 Robot joints velocity.
ColumnVector qpp
 Robot joints acceleration.
ColumnVector tau
 Output torque.
ColumnVector zero3
 $3\times 1$ zero vector.

Detailed Description

Proportional derivative controller class.

The driving torques can be expressed as

\[ \tau = K_p(q_d-q) + K_d(\dot{q}_d-q) \]

where $K_p$, $K_d$ are diagonal positive definie matrix.

Definition at line 252 of file controller.h.

Constructor & Destructor Documentation

Proportional_Derivative::Proportional_Derivative ( const short  dof = 1)

Constructor.

Definition at line 609 of file controller.cpp.

Proportional_Derivative::Proportional_Derivative ( const Robot_basic &  robot,
const DiagonalMatrix &  Kp,
const DiagonalMatrix &  Kd 
)

Constructor.

Definition at line 618 of file controller.cpp.

Member Function Documentation

short Proportional_Derivative::set_Kd ( const DiagonalMatrix &  Kd_)

Assign the velocity error gain matrix $K_p(i,i)$.

Returns:
short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$.

Definition at line 657 of file controller.cpp.

short Proportional_Derivative::set_Kp ( const DiagonalMatrix &  Kp_)

Assign the position error gain matrix $K_p(i,i)$.

Returns:
short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$.

Definition at line 674 of file controller.cpp.

ReturnMatrix Proportional_Derivative::torque_cmd ( Robot_basic &  robot,
const ColumnVector &  qd,
const ColumnVector &  qpd 
)

Output torque.

Definition at line 632 of file controller.cpp.

Member Data Documentation

int Proportional_Derivative::dof [private]

Degree of freedom.

Definition at line 263 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kd [private]

Velocity error gain.

Definition at line 269 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kp [private]

Position error gain.

Definition at line 269 of file controller.h.

ColumnVector Proportional_Derivative::q [private]

Robot joints positions.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qp [private]

Robot joints velocity.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qpp [private]

Robot joints acceleration.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::tau [private]

Output torque.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::zero3 [private]

$3\times 1$ zero vector.

Definition at line 264 of file controller.h.

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

kni
Author(s): Martin Günther
autogenerated on Mon Aug 14 2017 02:44:13