Follows a position target. The position demand is converted into a force demand by a PID loop. More...
#include "sr_mechanism_controllers/srh_joint_variable_pid_position_controller.hpp"#include "angles/angles.h"#include "pluginlib/class_list_macros.h"#include <string>#include <sstream>#include <algorithm>#include <math.h>#include "sr_utilities/sr_math_utils.hpp"#include <std_msgs/Float64.h>
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Detailed Description
Follows a position target. The position demand is converted into a force demand by a PID loop.
- Date
- Wed Aug 17 12:32:01 2011
Copyright 2019 Shadow Robot Company Ltd.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 2 of the License.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
The code is base on srh_joint_position_controller.hpp
- Date
- Wed Aug 17 12:32:01 2011
Copyright 2019 Shadow Robot Company Ltd.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation version 2 of the License.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
The code is base on srh_joint_position_controller.cpp
Definition in file srh_joint_variable_pid_position_controller.cpp.