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 71 of file limited_proxy.h.

Constructor & Destructor Documentation

LimitedProxy()

control_toolbox::LimitedProxy::LimitedProxy ( )

inline

Definition at line 120 of file limited_proxy.h.

Member Function Documentation

reset()

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

Definition at line 170 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 189 of file limited_proxy.cpp.

Member Data Documentation

acc_converge_

double control_toolbox::LimitedProxy::acc_converge_

Definition at line 117 of file limited_proxy.h.

effort_limit_

double control_toolbox::LimitedProxy::effort_limit_

Definition at line 112 of file limited_proxy.h.

Ficl_

double control_toolbox::LimitedProxy::Ficl_

Definition at line 111 of file limited_proxy.h.

Kd_

double control_toolbox::LimitedProxy::Kd_

Definition at line 108 of file limited_proxy.h.

Ki_

double control_toolbox::LimitedProxy::Ki_

Definition at line 110 of file limited_proxy.h.

Kp_

double control_toolbox::LimitedProxy::Kp_

Definition at line 109 of file limited_proxy.h.

lambda_proxy_

double control_toolbox::LimitedProxy::lambda_proxy_

Definition at line 116 of file limited_proxy.h.

last_int_error_

double control_toolbox::LimitedProxy::last_int_error_

private

Definition at line 141 of file limited_proxy.h.

last_pos_error_

double control_toolbox::LimitedProxy::last_pos_error_

private

Definition at line 140 of file limited_proxy.h.

last_proxy_acc_

double control_toolbox::LimitedProxy::last_proxy_acc_

private

Definition at line 137 of file limited_proxy.h.

last_proxy_pos_

double control_toolbox::LimitedProxy::last_proxy_pos_

private

Definition at line 135 of file limited_proxy.h.

last_proxy_vel_

double control_toolbox::LimitedProxy::last_proxy_vel_

private

Definition at line 136 of file limited_proxy.h.

last_vel_error_

double control_toolbox::LimitedProxy::last_vel_error_

private

Definition at line 139 of file limited_proxy.h.

mass_

double control_toolbox::LimitedProxy::mass_

Definition at line 107 of file limited_proxy.h.

pos_lower_limit_

double control_toolbox::LimitedProxy::pos_lower_limit_

Definition at line 115 of file limited_proxy.h.

pos_upper_limit_

double control_toolbox::LimitedProxy::pos_upper_limit_

Definition at line 114 of file limited_proxy.h.

vel_limit_

double control_toolbox::LimitedProxy::vel_limit_

Definition at line 113 of file limited_proxy.h.

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

• limited_proxy.h
• limited_proxy.cpp