dynamicgraph::tutorial::FeedbackController Class Reference

Feedback controller for an inverted pendulum. More...

#include <feedback-controller.hh>

Inheritance diagram for dynamicgraph::tutorial::FeedbackController:

Public Member Functions
	FeedbackController (const std::string &inName)
	Constructor by name. More...
virtual const std::string &	getClassName (void) const
	Each entity should provide the name of the class it belongs to. More...
virtual std::string	getDocString () const
	Header documentation of the python class. More...
	~FeedbackController ()
Parameters
void	setGain (const ::dynamicgraph::Matrix &inGain)
	Get feedback gain. More...
::dynamicgraph::Matrix	getGain () const
	Get feedback gain. More...
Public Member Functions inherited from dynamicgraph::Entity
virtual void	display (std::ostream &os) const
std::ostream &	displaySignalList (std::ostream &os) const
	Entity (const std::string &name)
const std::string &	getCommandList () 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 &	logger ()
const Logger &	logger () const
const Logger &	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 ()

Static Public Attributes
static const std::string	CLASS_NAME

Private Member Functions
double &	computeForceFeedback (double &force, const int &inTime)

Private Attributes
SignalTimeDependent< double, int >	forceSOUT
	Force computed by the control law. More...
::dynamicgraph::Matrix	gain_
	Gain of the controller. More...
SignalPtr< ::dynamicgraph::Vector, int >	stateSIN
	State of the inverted pendulum. More...

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
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 inherited from dynamicgraph::Entity
CommandMap_t	commandMap
Logger	logger_
std::string	name
SignalMap	signalMap

Detailed Description

Feedback controller for an inverted pendulum.

This class implements a feedback control for the inverted pendulum represented by class InvertedPendulum

Definition at line 23 of file feedback-controller.hh.

Constructor & Destructor Documentation

FeedbackController()

FeedbackController::FeedbackController

(

const std::string &

inName

)

Constructor by name.

Definition at line 23 of file feedback-controller.cpp.

~FeedbackController()

FeedbackController::~FeedbackController

(

)

Definition at line 69 of file feedback-controller.cpp.

Member Function Documentation

computeForceFeedback()

double & FeedbackController::computeForceFeedback ( double &  force, const int &  inTime  )

private

Compute the control law

Definition at line 71 of file feedback-controller.cpp.

getClassName()

virtual const std::string& dynamicgraph::tutorial::FeedbackController::getClassName ( void  ) const

inlinevirtual

Each entity should provide the name of the class it belongs to.

Reimplemented from dynamicgraph::Entity.

Definition at line 33 of file feedback-controller.hh.

getDocString()

virtual std::string dynamicgraph::tutorial::FeedbackController::getDocString ( ) const

inlinevirtual

Header documentation of the python class.

Reimplemented from dynamicgraph::Entity.

Definition at line 36 of file feedback-controller.hh.

getGain()

::dynamicgraph::Matrix dynamicgraph::tutorial::FeedbackController::getGain ( ) const

inline

Get feedback gain.

Definition at line 51 of file feedback-controller.hh.

setGain()

void dynamicgraph::tutorial::FeedbackController::setGain ( const ::dynamicgraph::Matrix &  inGain )

inline

Get feedback gain.

Definition at line 46 of file feedback-controller.hh.

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::tutorial::FeedbackController::CLASS_NAME

static

Definition at line 61 of file feedback-controller.hh.

forceSOUT

SignalTimeDependent<double, int> dynamicgraph::tutorial::FeedbackController::forceSOUT

private

Force computed by the control law.

Definition at line 76 of file feedback-controller.hh.

gain_

::dynamicgraph::Matrix dynamicgraph::tutorial::FeedbackController::gain_

private

Gain of the controller.

Definition at line 79 of file feedback-controller.hh.

stateSIN

SignalPtr< ::dynamicgraph::Vector, int> dynamicgraph::tutorial::FeedbackController::stateSIN

private

State of the inverted pendulum.

Definition at line 72 of file feedback-controller.hh.

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

• feedback-controller.hh
• feedback-controller.cpp