#include <control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:

Public Member Functions
	ControlPD (const std::string &name)

virtual void	display (std::ostream &os) const

virtual const std::string &	getClassName (void) const

void	init (const double &step)

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

virtual std::string	getDocString () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger const &	logger () const

Logger &	logger ()

Logger const &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
SignalTimeDependent< dynamicgraph::Vector, int >	controlSOUT

SignalPtr< dynamicgraph::Vector, int >	desiredpositionSIN

SignalPtr< dynamicgraph::Vector, int >	desiredvelocitySIN

SignalPtr< dynamicgraph::Vector, int >	KdSIN

SignalPtr< dynamicgraph::Vector, int >	KpSIN

SignalTimeDependent< dynamicgraph::Vector, int >	positionErrorSOUT

SignalPtr< dynamicgraph::Vector, int >	positionSIN

SignalTimeDependent< dynamicgraph::Vector, int >	velocityErrorSOUT

SignalPtr< dynamicgraph::Vector, int >	velocitySIN

Static Public Attributes
static const std::string	CLASS_NAME

static const double	TIME_STEP_DEFAULT = .001

Protected Member Functions
dynamicgraph::Vector &	computeControl (dynamicgraph::Vector &tau, int t)

dynamicgraph::Vector &	getPositionError (dynamicgraph::Vector &position_error, int t)

dynamicgraph::Vector &	getVelocityError (dynamicgraph::Vector &velocity_error, int t)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes
dynamicgraph::Vector	position_error_

double	TimeStep

dynamicgraph::Vector	velocity_error_

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command *>	CommandMap_t

typedef std::map< std::string, SignalBase< int > *>	SignalMap

Detailed Description

Definition at line 46 of file control-pd.hh.

Constructor & Destructor Documentation

◆ ControlPD()

ControlPD::ControlPD ( const std::string & name )

Definition at line 33 of file control-pd.cpp.

Member Function Documentation

◆ computeControl()

dynamicgraph::Vector & ControlPD::computeControl	(	dynamicgraph::Vector &	tau,
		int	t
	)

protected

Definition at line 84 of file control-pd.cpp.

◆ display()

void ControlPD::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 71 of file control-pd.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::ControlPD::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 60 of file control-pd.hh.

◆ getPositionError()

dynamicgraph::Vector & ControlPD::getPositionError	(	dynamicgraph::Vector &	position_error,
		int	t
	)

protected

Definition at line 109 of file control-pd.cpp.

◆ getVelocityError()

dynamicgraph::Vector & ControlPD::getVelocityError	(	dynamicgraph::Vector &	velocity_error,
		int	t
	)

protected

Definition at line 117 of file control-pd.cpp.

◆ init()

void ControlPD::init ( const double & step )

Definition at line 61 of file control-pd.cpp.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::ControlPD::CLASS_NAME

static

Definition at line 58 of file control-pd.hh.

◆ controlSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::controlSOUT

Definition at line 74 of file control-pd.hh.

◆ desiredpositionSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::desiredpositionSIN

Definition at line 71 of file control-pd.hh.

◆ desiredvelocitySIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::desiredvelocitySIN

Definition at line 73 of file control-pd.hh.

◆ KdSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::KdSIN

Definition at line 69 of file control-pd.hh.

◆ KpSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::KpSIN

Definition at line 68 of file control-pd.hh.

◆ position_error_

dynamicgraph::Vector dynamicgraph::sot::ControlPD::position_error_

protected

Definition at line 80 of file control-pd.hh.

◆ positionErrorSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::positionErrorSOUT

Definition at line 75 of file control-pd.hh.

◆ positionSIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::positionSIN

Definition at line 70 of file control-pd.hh.

◆ TIME_STEP_DEFAULT

const double ControlPD::TIME_STEP_DEFAULT = .001

static

Definition at line 55 of file control-pd.hh.

◆ TimeStep

double dynamicgraph::sot::ControlPD::TimeStep

protected

Definition at line 65 of file control-pd.hh.

◆ velocity_error_

dynamicgraph::Vector dynamicgraph::sot::ControlPD::velocity_error_

protected

Definition at line 81 of file control-pd.hh.

◆ velocityErrorSOUT

SignalTimeDependent<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::velocityErrorSOUT

Definition at line 76 of file control-pd.hh.

◆ velocitySIN

SignalPtr<dynamicgraph::Vector, int> dynamicgraph::sot::ControlPD::velocitySIN

Definition at line 72 of file control-pd.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ControlPD()

Member Function Documentation

◆ computeControl()

◆ display()

◆ getClassName()

◆ getPositionError()

◆ getVelocityError()

◆ init()

Member Data Documentation

◆ CLASS_NAME

◆ controlSOUT

◆ desiredpositionSIN

◆ desiredvelocitySIN

◆ KdSIN

◆ KpSIN

◆ position_error_

◆ positionErrorSOUT

◆ positionSIN

◆ TIME_STEP_DEFAULT

◆ TimeStep

◆ velocity_error_

◆ velocityErrorSOUT

◆ velocitySIN