Public Member Functions | Public Attributes | Private Attributes | List of all members
Control_Select Class Reference

Select controller class. More...

#include <control_select.h>

Public Member Functions

 Control_Select ()
 Constructor. More...
 
 Control_Select (const std::string &filename)
 
int get_dof ()
 Return the degree of freedom. More...
 
void set_control (const std::string &filename)
 Select the proper controller from filename. More...
 

Public Attributes

std::string ControllerName
 Controller name. More...
 
Computed_torque_method ctm
 
Impedance impedance
 
Proportional_Derivative pd
 
Resolved_acc rra
 
short space_type
 JOINT_SPACE or CARTESIAN_SPACE. More...
 
short type
 Type of controller: PD, CTM,... More...
 

Private Attributes

int dof
 Degree of freedom. More...
 

Detailed Description

Select controller class.

This class contains an instance of each controller class. The active controller will be selected when reading a controller file. "type" value correspond to the active controller, ex:

Bellow is an exemple of RRA configuration file (more info on configuration file in config.h/cpp):

  [CONTROLLER]

  type:   RESOLVED_RATE_ACCELERATION
  dof:    6

  [GAINS]

  Kvp:         500.0
  Kpp:        5000.0
  Kvo:         500.0
  Kpo:        5000.0

Definition at line 100 of file control_select.h.

Constructor & Destructor Documentation

Control_Select::Control_Select ( )

Constructor.

Definition at line 60 of file control_select.cpp.

Control_Select::Control_Select ( const std::string &  filename)

Member Function Documentation

int Control_Select::get_dof ( )

Return the degree of freedom.

Definition at line 77 of file control_select.cpp.

void Control_Select::set_control ( const std::string &  filename)

Select the proper controller from filename.

Definition at line 83 of file control_select.cpp.

Member Data Documentation

std::string Control_Select::ControllerName

Controller name.

Definition at line 114 of file control_select.h.

Computed_torque_method Control_Select::ctm

Definition at line 108 of file control_select.h.

int Control_Select::dof
private

Degree of freedom.

Definition at line 116 of file control_select.h.

Impedance Control_Select::impedance

Definition at line 110 of file control_select.h.

Proportional_Derivative Control_Select::pd

Definition at line 107 of file control_select.h.

Resolved_acc Control_Select::rra

Definition at line 109 of file control_select.h.

short Control_Select::space_type

JOINT_SPACE or CARTESIAN_SPACE.

Definition at line 112 of file control_select.h.

short Control_Select::type

Type of controller: PD, CTM,...

Definition at line 112 of file control_select.h.


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


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17