Program Listing for File limited_proxy.hpp
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#ifndef CONTROL_TOOLBOX__LIMITED_PROXY_HPP_
#define CONTROL_TOOLBOX__LIMITED_PROXY_HPP_
namespace control_toolbox
{
class LimitedProxy
{
public:
// Controller parameter values
double mass_; // Estimate of the joint mass
double Kd_; // Damping gain
double Kp_; // Position gain
double Ki_; // Integral gain
double Ficl_; // Integral force clamp
double effort_limit_; // Limit on output force
double vel_limit_; // Limit on velocity
double pos_upper_limit_; // Upper position bound
double pos_lower_limit_; // Lower position bound
double lambda_proxy_; // Bandwidth of proxy reconvergence
double acc_converge_; // Acceleration of proxy reconvergence
LimitedProxy()
: mass_(0.0),
Kd_(0.0),
Kp_(0.0),
Ki_(0.0),
Ficl_(0.0),
effort_limit_(0.0),
vel_limit_(0.0),
pos_upper_limit_(0.0),
pos_lower_limit_(0.0),
lambda_proxy_(0.0),
acc_converge_(0.0)
{
}
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);
private:
// Controller state values
double last_proxy_pos_; // Proxy position
double last_proxy_vel_; // Proxy velocity
double last_proxy_acc_; // Proxy acceleration
double last_vel_error_; // Velocity error
double last_pos_error_; // Position error
double last_int_error_; // Integral error
};
} // namespace control_toolbox
#endif // CONTROL_TOOLBOX__LIMITED_PROXY_HPP_