#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< sigtime_t > & | getSignal (const std::string &signalName) |
| const SignalBase< sigtime_t > & | 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< sigtime_t > * | test () |
| virtual void | test2 (SignalBase< sigtime_t > *) |
| 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 |
| static const double | TIME_STEP_DEFAULT = .001 |
Protected Member Functions | |
| dynamicgraph::Vector & | computeControl (dynamicgraph::Vector &tau, sigtime_t t) |
| dynamicgraph::Vector & | getPositionError (dynamicgraph::Vector &position_error, sigtime_t t) |
| dynamicgraph::Vector & | getVelocityError (dynamicgraph::Vector &velocity_error, sigtime_t 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< sigtime_t > &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< sigtime_t > * > | 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()
|
protected |
Definition at line 84 of file control-pd.cpp.
◆ display()
|
virtual |
Reimplemented from dynamicgraph::Entity.
Definition at line 71 of file control-pd.cpp.
◆ getClassName()
|
inlinevirtual |
Reimplemented from dynamicgraph::Entity.
Definition at line 60 of file control-pd.hh.
◆ getPositionError()
|
protected |
Definition at line 109 of file control-pd.cpp.
◆ getVelocityError()
|
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
|
static |
Definition at line 58 of file control-pd.hh.
◆ controlSOUT
| SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::controlSOUT |
Definition at line 74 of file control-pd.hh.
◆ desiredpositionSIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::desiredpositionSIN |
Definition at line 71 of file control-pd.hh.
◆ desiredvelocitySIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::desiredvelocitySIN |
Definition at line 73 of file control-pd.hh.
◆ KdSIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::KdSIN |
Definition at line 69 of file control-pd.hh.
◆ KpSIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::KpSIN |
Definition at line 68 of file control-pd.hh.
◆ position_error_
|
protected |
Definition at line 80 of file control-pd.hh.
◆ positionErrorSOUT
| SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::positionErrorSOUT |
Definition at line 75 of file control-pd.hh.
◆ positionSIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::positionSIN |
Definition at line 70 of file control-pd.hh.
◆ TIME_STEP_DEFAULT
|
static |
Definition at line 55 of file control-pd.hh.
◆ TimeStep
|
protected |
Definition at line 65 of file control-pd.hh.
◆ velocity_error_
|
protected |
Definition at line 81 of file control-pd.hh.
◆ velocityErrorSOUT
| SignalTimeDependent<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::velocityErrorSOUT |
Definition at line 76 of file control-pd.hh.
◆ velocitySIN
| SignalPtr<dynamicgraph::Vector, sigtime_t> dynamicgraph::sot::ControlPD::velocitySIN |
Definition at line 72 of file control-pd.hh.
The documentation for this class was generated from the following files: