Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
dynamicgraph::sot::ControlPD Class Reference

#include <control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:
Inheritance graph
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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::CommandgetNewStyleCommand (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
 
Loggerlogger ()
 
Logger const & logger () const
 
Loggerlogger ()
 
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::VectorcomputeControl (dynamicgraph::Vector &tau, int t)
 
dynamicgraph::VectorgetPositionError (dynamicgraph::Vector &position_error, int t)
 
dynamicgraph::VectorgetVelocityError (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:


sot-core
Author(s): Olivier Stasse, ostasse@laas.fr
autogenerated on Wed Jun 21 2023 02:51:27