Proportional derivative controller class. More...

#include <controller.h>

Public Member Functions
	Proportional_Derivative (const short dof=1)
	Constructor. More...

	Proportional_Derivative (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)
	Constructor. More...

short	set_Kd (const DiagonalMatrix &Kd)
	Assign the velocity error gain matrix . More...

short	set_Kp (const DiagonalMatrix &Kp)
	Assign the position error gain matrix . More...

ReturnMatrix	torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
	Output torque. More...

Private Attributes
int	dof
	Degree of freedom. More...

DiagonalMatrix	Kd
	Velocity error gain. More...

DiagonalMatrix	Kp
	Position error gain. More...

ColumnVector	q
	Robot joints positions. More...

ColumnVector	qp
	Robot joints velocity. More...

ColumnVector	qpp
	Robot joints acceleration. More...

ColumnVector	tau
	Output torque. More...

ColumnVector	zero3
	$3\times 1$ zero vector. More...

Detailed Description

Proportional derivative controller class.

The driving torques can be expressed as

$\tau = K_p(q_d-q) + K_d(\dot{q}_d-q)$

where $K_p$ , $K_d$ are diagonal positive definie matrix.

Definition at line 252 of file controller.h.

Constructor & Destructor Documentation

Proportional_Derivative::Proportional_Derivative ( const short dof = 1 )

Constructor.

Definition at line 609 of file controller.cpp.

Proportional_Derivative::Proportional_Derivative	(	const Robot_basic &	robot,
		const DiagonalMatrix &	Kp,
		const DiagonalMatrix &	Kd
	)

Constructor.

Definition at line 618 of file controller.cpp.

Member Function Documentation

short Proportional_Derivative::set_Kd ( const DiagonalMatrix & Kd_ )

Assign the velocity error gain matrix $K_p(i,i)$ .

Returns: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 657 of file controller.cpp.

short Proportional_Derivative::set_Kp ( const DiagonalMatrix & Kp_ )

Assign the position error gain matrix $K_p(i,i)$ .

Returns: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 674 of file controller.cpp.

ReturnMatrix Proportional_Derivative::torque_cmd	(	Robot_basic &	robot,
		const ColumnVector &	qd,
		const ColumnVector &	qpd
	)

Output torque.

Definition at line 632 of file controller.cpp.

Member Data Documentation

int Proportional_Derivative::dof

private

Degree of freedom.

Definition at line 263 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kd

private

Velocity error gain.

Definition at line 269 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kp

private

Position error gain.

Definition at line 269 of file controller.h.

ColumnVector Proportional_Derivative::q

private

Robot joints positions.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qp

private

Robot joints velocity.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qpp

private

Robot joints acceleration.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::tau

private

Output torque.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::zero3

private

$3\times 1$ zero vector.

Definition at line 264 of file controller.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation