hebiros_gazebo_controller.cpp File Reference

#include <hebiros_gazebo_controller.h>

Include dependency graph for hebiros_gazebo_controller.cpp:

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Namespaces
	controller

Enumerations
enum	controller::control_strategies {   controller::control_strategies::CONTROL_STRATEGY_OFF = 0, controller::control_strategies::CONTROL_STRATEGY_DIRECT_PWM = 1, controller::control_strategies::CONTROL_STRATEGY_2 = 2, controller::control_strategies::CONTROL_STRATEGY_3 = 3,   controller::control_strategies::CONTROL_STRATEGY_4 = 4 }

Variables
static constexpr control_strategies	controller::DEFAULT_CONTROL_STRATEGY = control_strategies::CONTROL_STRATEGY_3
static constexpr double	controller::DEFAULT_EFFORT_KD = 0.001
static constexpr double	controller::DEFAULT_EFFORT_KI = 0.0
static constexpr double	controller::DEFAULT_EFFORT_KP = 0.25
static constexpr double	controller::DEFAULT_GEAR_RATIO = 272.22
static constexpr double	controller::DEFAULT_POSITION_KD = 0.0
static constexpr double	controller::DEFAULT_POSITION_KI = 0.0
static constexpr double	controller::DEFAULT_POSITION_KP = 0.5
static constexpr double	controller::DEFAULT_VELOCITY_KD = 0.0
static constexpr double	controller::DEFAULT_VELOCITY_KI = 0.0
static constexpr double	controller::DEFAULT_VELOCITY_KP = 0.05
static constexpr double	controller::GEAR_RATIO_X5_1 = 272.22
static constexpr double	controller::GEAR_RATIO_X5_4 = 762.22
static constexpr double	controller::GEAR_RATIO_X5_9 = 1742.22
static constexpr double	controller::GEAR_RATIO_X8_16 = 1462.222
static constexpr double	controller::GEAR_RATIO_X8_3 = 272.22
static constexpr double	controller::GEAR_RATIO_X8_9 = 762.22
static std::map< std::string, double >	controller::gear_ratios
static constexpr double	controller::LOW_PASS_ALPHA = 0.1
static constexpr double	controller::MAX_PWM = 1.0
static constexpr double	controller::MIN_PWM = -1.0