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... | |
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:
type = NONE : no controller selected type = PD : Proportional Derivative type = CTM : Computer Torque Method type = RRA : Resolved Rate Acceleration type = IMP : ImpedanceBellow 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.
| Control_Select::Control_Select | ( | ) |
Constructor.
Definition at line 60 of file control_select.cpp.
| Control_Select::Control_Select | ( | const std::string & | filename | ) |
| 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.
| 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.
|
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.