Public Member Functions | Public Attributes | Private Attributes | List of all members
control_toolbox::LimitedProxy Class Reference

#include <limited_proxy.h>

Public Member Functions

 LimitedProxy ()
 
void reset (double pos_act, double vel_act)
 
double update (double pos_des, double vel_des, double acc_des, double pos_act, double vel_act, double dt)
 

Public Attributes

double acc_converge_
 
double effort_limit_
 
double Ficl_
 
double Kd_
 
double Ki_
 
double Kp_
 
double lambda_proxy_
 
double mass_
 
double pos_lower_limit_
 
double pos_upper_limit_
 
double vel_limit_
 

Private Attributes

double last_int_error_
 
double last_pos_error_
 
double last_proxy_acc_
 
double last_proxy_pos_
 
double last_proxy_vel_
 
double last_vel_error_
 

Detailed Description

Definition at line 39 of file limited_proxy.h.

Constructor & Destructor Documentation

◆ LimitedProxy()

control_toolbox::LimitedProxy::LimitedProxy ( )
inline

Definition at line 56 of file limited_proxy.h.

Member Function Documentation

◆ reset()

void control_toolbox::LimitedProxy::reset ( double  pos_act,
double  vel_act 
)

Definition at line 138 of file limited_proxy.cpp.

◆ update()

double control_toolbox::LimitedProxy::update ( double  pos_des,
double  vel_des,
double  acc_des,
double  pos_act,
double  vel_act,
double  dt 
)

Definition at line 157 of file limited_proxy.cpp.

Member Data Documentation

◆ acc_converge_

double control_toolbox::LimitedProxy::acc_converge_

Definition at line 53 of file limited_proxy.h.

◆ effort_limit_

double control_toolbox::LimitedProxy::effort_limit_

Definition at line 48 of file limited_proxy.h.

◆ Ficl_

double control_toolbox::LimitedProxy::Ficl_

Definition at line 47 of file limited_proxy.h.

◆ Kd_

double control_toolbox::LimitedProxy::Kd_

Definition at line 44 of file limited_proxy.h.

◆ Ki_

double control_toolbox::LimitedProxy::Ki_

Definition at line 46 of file limited_proxy.h.

◆ Kp_

double control_toolbox::LimitedProxy::Kp_

Definition at line 45 of file limited_proxy.h.

◆ lambda_proxy_

double control_toolbox::LimitedProxy::lambda_proxy_

Definition at line 52 of file limited_proxy.h.

◆ last_int_error_

double control_toolbox::LimitedProxy::last_int_error_
private

Definition at line 77 of file limited_proxy.h.

◆ last_pos_error_

double control_toolbox::LimitedProxy::last_pos_error_
private

Definition at line 76 of file limited_proxy.h.

◆ last_proxy_acc_

double control_toolbox::LimitedProxy::last_proxy_acc_
private

Definition at line 73 of file limited_proxy.h.

◆ last_proxy_pos_

double control_toolbox::LimitedProxy::last_proxy_pos_
private

Definition at line 71 of file limited_proxy.h.

◆ last_proxy_vel_

double control_toolbox::LimitedProxy::last_proxy_vel_
private

Definition at line 72 of file limited_proxy.h.

◆ last_vel_error_

double control_toolbox::LimitedProxy::last_vel_error_
private

Definition at line 75 of file limited_proxy.h.

◆ mass_

double control_toolbox::LimitedProxy::mass_

Definition at line 43 of file limited_proxy.h.

◆ pos_lower_limit_

double control_toolbox::LimitedProxy::pos_lower_limit_

Definition at line 51 of file limited_proxy.h.

◆ pos_upper_limit_

double control_toolbox::LimitedProxy::pos_upper_limit_

Definition at line 50 of file limited_proxy.h.

◆ vel_limit_

double control_toolbox::LimitedProxy::vel_limit_

Definition at line 49 of file limited_proxy.h.


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


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Wed May 11 2022 02:11:48