generic_control_toolbox::JointPositionIntegrator Class Reference

#include <joint_position_integrator.hpp>

Public Member Functions
	JointPositionIntegrator (ros::NodeHandle &nh)
void	reset ()
KDL::JntArray	update (const KDL::JntArray &q_dot, const KDL::JntArray &q, float dt)
Eigen::VectorXd	update (const Eigen::VectorXd &q_dot, const Eigen::VectorXd &q, float dt)
	~JointPositionIntegrator ()

Private Member Functions
bool	init ()

Private Attributes
bool	got_state_
float	max_joint_error_
ros::NodeHandle	nh_
KDL::JntArray	virt_q_

Detailed Description

Implement a joint position integrator which produces joint position references given a joint velocity target.

Definition at line 13 of file joint_position_integrator.hpp.

Constructor & Destructor Documentation

JointPositionIntegrator()

generic_control_toolbox::JointPositionIntegrator::JointPositionIntegrator

(

ros::NodeHandle &

nh

)

Definition at line 5 of file joint_position_integrator.cpp.

~JointPositionIntegrator()

generic_control_toolbox::JointPositionIntegrator::~JointPositionIntegrator ( )

inline

Definition at line 17 of file joint_position_integrator.hpp.

Member Function Documentation

init()

bool generic_control_toolbox::JointPositionIntegrator::init ( )

private

Get the parameters for the integrator.

Definition at line 67 of file joint_position_integrator.cpp.

reset()

void generic_control_toolbox::JointPositionIntegrator::reset

(

)

Reset the integrator's state.

Definition at line 16 of file joint_position_integrator.cpp.

update() [1/2]

KDL::JntArray generic_control_toolbox::JointPositionIntegrator::update	(	const KDL::JntArray &	q_dot,
		const KDL::JntArray &	q,
		float	dt
	)

Produce an updated joint position vector for a given set of joint velocities.

The output is q = sat(q + q_dot * dt), where the function sat(.) saturates the output if any joint exceeds the configured max_joint_error.

Parameters

q_dot	The array of joint velocities to be integrated.
q	The current joint state.
dt	The integration delta.

Returns

An updated set of joint positions.

Definition at line 18 of file joint_position_integrator.cpp.

update() [2/2]

Eigen::VectorXd generic_control_toolbox::JointPositionIntegrator::update	(	const Eigen::VectorXd &	q_dot,
		const Eigen::VectorXd &	q,
		float	dt
	)

Definition at line 43 of file joint_position_integrator.cpp.

Member Data Documentation

got_state_

bool generic_control_toolbox::JointPositionIntegrator::got_state_

private

Definition at line 45 of file joint_position_integrator.hpp.

max_joint_error_

float generic_control_toolbox::JointPositionIntegrator::max_joint_error_

private

Definition at line 44 of file joint_position_integrator.hpp.

nh_

ros::NodeHandle generic_control_toolbox::JointPositionIntegrator::nh_

private

Definition at line 42 of file joint_position_integrator.hpp.

virt_q_

KDL::JntArray generic_control_toolbox::JointPositionIntegrator::virt_q_

private

Definition at line 43 of file joint_position_integrator.hpp.

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

• joint_position_integrator.hpp
• joint_position_integrator.cpp