MotorTorqueController Class Reference

#include <MotorTorqueController.h>

Classes
class	MotorController

Public Types
enum	controller_state_t { INACTIVE, STOP, ACTIVE }
enum	motor_model_t { TWO_DOF_CONTROLLER, TWO_DOF_CONTROLLER_PD_MODEL, TWO_DOF_CONTROLLER_DYNAMICS_MODEL }

Public Member Functions
bool	activate (void)
bool	deactivate (void)
bool	disable (void)
bool	enable (void)
double	execute (double _tau, double _tauMax)
bool	getControllerParam (TwoDofController::TwoDofControllerParam &_param)
bool	getControllerParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
bool	getControllerParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
std::string	getJointName (void)
controller_state_t	getMotorControllerState (void)
motor_model_t	getMotorModelType (void)
bool	isEnabled (void)
	MotorTorqueController ()
	MotorTorqueController (std::string _jname, TwoDofController::TwoDofControllerParam &_param)
	MotorTorqueController (std::string _jname, TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
	MotorTorqueController (std::string _jname, TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
void	printMotorControllerVariables (void)
void	setErrorPrefix (const std::string &_error_prefix)
bool	setReferenceTorque (double _tauRef)
void	setupController (TwoDofController::TwoDofControllerParam &_param)
void	setupController (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
void	setupController (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
void	setupMotorControllerControlMinMaxDq (double _min_dq, double _max_dq)
void	setupMotorControllerTransitionMinMaxDq (double _min_transition_dq, double _max_transition_dq)
bool	updateControllerParam (TwoDofController::TwoDofControllerParam &_param)
bool	updateControllerParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
bool	updateControllerParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
	~MotorTorqueController (void)

Private Member Functions
void	prepareStop (MotorController &_mc)
void	resetMotorControllerVariables (MotorController &_mc)
void	setupControllerCommon (std::string _jname, double _dt)
void	updateController (double _tau, double _tauRef, MotorController &_mc)

Private Attributes
double	m_actual_tauRef
double	m_command_tauRef
double	m_current_tau
double	m_dt
MotorController	m_emergencyController
bool	m_enable_flag
std::string	m_error_prefix
std::string	m_joint_name
motor_model_t	m_motor_model_type
MotorController	m_normalController
int	m_transition_count

Detailed Description

Definition at line 21 of file MotorTorqueController.h.

Member Enumeration Documentation

enum MotorTorqueController::controller_state_t

Enumerator
INACTIVE
STOP
ACTIVE

Definition at line 29 of file MotorTorqueController.h.

enum MotorTorqueController::motor_model_t

Enumerator
TWO_DOF_CONTROLLER
TWO_DOF_CONTROLLER_PD_MODEL
TWO_DOF_CONTROLLER_DYNAMICS_MODEL

Definition at line 23 of file MotorTorqueController.h.

Constructor & Destructor Documentation

MotorTorqueController::MotorTorqueController

(

)

Definition at line 27 of file MotorTorqueController.cpp.

MotorTorqueController::~MotorTorqueController

(

void

)

Definition at line 39 of file MotorTorqueController.cpp.

MotorTorqueController::MotorTorqueController	(	std::string	_jname,
		TwoDofController::TwoDofControllerParam &	_param
	)

Definition at line 44 of file MotorTorqueController.cpp.

MotorTorqueController::MotorTorqueController	(	std::string	_jname,
		TwoDofControllerPDModel::TwoDofControllerPDModelParam &	_param
	)

Definition at line 85 of file MotorTorqueController.cpp.

MotorTorqueController::MotorTorqueController	(	std::string	_jname,
		TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &	_param
	)

Definition at line 126 of file MotorTorqueController.cpp.

Member Function Documentation

bool MotorTorqueController::activate

(

void

)

Definition at line 209 of file MotorTorqueController.cpp.

bool MotorTorqueController::deactivate

(

void

)

Definition at line 224 of file MotorTorqueController.cpp.

bool MotorTorqueController::disable

(

void

)

Definition at line 173 of file MotorTorqueController.cpp.

bool MotorTorqueController::enable

(

void

)

Definition at line 167 of file MotorTorqueController.cpp.

double MotorTorqueController::execute	(	double	_tau,
		double	_tauMax
	)

Definition at line 236 of file MotorTorqueController.cpp.

bool MotorTorqueController::getControllerParam

(

TwoDofController::TwoDofControllerParam &

_param

)

Definition at line 59 of file MotorTorqueController.cpp.

bool MotorTorqueController::getControllerParam

(

TwoDofControllerPDModel::TwoDofControllerPDModelParam &

_param

)

Definition at line 100 of file MotorTorqueController.cpp.

bool MotorTorqueController::getControllerParam

(

TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &

_param

)

Definition at line 141 of file MotorTorqueController.cpp.

std::string MotorTorqueController::getJointName

(

void

)

Definition at line 290 of file MotorTorqueController.cpp.

MotorTorqueController::controller_state_t MotorTorqueController::getMotorControllerState

(

void

)

Definition at line 295 of file MotorTorqueController.cpp.

MotorTorqueController::motor_model_t MotorTorqueController::getMotorModelType

(

void

)

Definition at line 330 of file MotorTorqueController.cpp.

bool MotorTorqueController::isEnabled

(

void

)

Definition at line 304 of file MotorTorqueController.cpp.

void MotorTorqueController::prepareStop ( MotorTorqueController::MotorController &  _mc )

private

Definition at line 357 of file MotorTorqueController.cpp.

void MotorTorqueController::printMotorControllerVariables

(

void

)

Definition at line 316 of file MotorTorqueController.cpp.

void MotorTorqueController::resetMotorControllerVariables ( MotorTorqueController::MotorController &  _mc )

private

Definition at line 350 of file MotorTorqueController.cpp.

void MotorTorqueController::setErrorPrefix

(

const std::string &

_error_prefix

)

Definition at line 309 of file MotorTorqueController.cpp.

bool MotorTorqueController::setReferenceTorque

(

double

_tauRef

)

Definition at line 230 of file MotorTorqueController.cpp.

void MotorTorqueController::setupController

(

TwoDofController::TwoDofControllerParam &

_param

)

Definition at line 52 of file MotorTorqueController.cpp.

void MotorTorqueController::setupController

(

TwoDofControllerPDModel::TwoDofControllerPDModelParam &

_param

)

Definition at line 93 of file MotorTorqueController.cpp.

void MotorTorqueController::setupController

(

TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &

_param

)

Definition at line 134 of file MotorTorqueController.cpp.

void MotorTorqueController::setupControllerCommon ( std::string  _jname, double  _dt  )

private

Definition at line 336 of file MotorTorqueController.cpp.

void MotorTorqueController::setupMotorControllerControlMinMaxDq	(	double	_min_dq,
		double	_max_dq
	)

Definition at line 189 of file MotorTorqueController.cpp.

void MotorTorqueController::setupMotorControllerTransitionMinMaxDq	(	double	_min_transition_dq,
		double	_max_transition_dq
	)

Definition at line 199 of file MotorTorqueController.cpp.

void MotorTorqueController::updateController ( double  _tau, double  _tauRef, MotorTorqueController::MotorController &  _mc  )

private

Definition at line 371 of file MotorTorqueController.cpp.

bool MotorTorqueController::updateControllerParam

(

TwoDofController::TwoDofControllerParam &

_param

)

Definition at line 71 of file MotorTorqueController.cpp.

bool MotorTorqueController::updateControllerParam

(

TwoDofControllerPDModel::TwoDofControllerPDModelParam &

_param

)

Definition at line 112 of file MotorTorqueController.cpp.

bool MotorTorqueController::updateControllerParam

(

TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &

_param

)

Definition at line 153 of file MotorTorqueController.cpp.

Member Data Documentation

double MotorTorqueController::m_actual_tauRef

private

Definition at line 123 of file MotorTorqueController.h.

double MotorTorqueController::m_command_tauRef

private

Definition at line 122 of file MotorTorqueController.h.

double MotorTorqueController::m_current_tau

private

Definition at line 121 of file MotorTorqueController.h.

double MotorTorqueController::m_dt

private

Definition at line 120 of file MotorTorqueController.h.

MotorController MotorTorqueController::m_emergencyController

private

Definition at line 125 of file MotorTorqueController.h.

bool MotorTorqueController::m_enable_flag

private

Definition at line 127 of file MotorTorqueController.h.

std::string MotorTorqueController::m_error_prefix

private

Definition at line 126 of file MotorTorqueController.h.

std::string MotorTorqueController::m_joint_name

private

Definition at line 117 of file MotorTorqueController.h.

motor_model_t MotorTorqueController::m_motor_model_type

private

Definition at line 118 of file MotorTorqueController.h.

MotorController MotorTorqueController::m_normalController

private

Definition at line 124 of file MotorTorqueController.h.

int MotorTorqueController::m_transition_count

private

Definition at line 119 of file MotorTorqueController.h.

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

• MotorTorqueController.h
• MotorTorqueController.cpp