Class PDController

Defined in File pd_controller.hpp

Class Documentation

class PDController

Public Functions

PDController()

~PDController()

const Eigen::VectorXd &compute_control(const Eigen::VectorXd &q, const Eigen::VectorXd &v)

void set_gains(const Eigen::VectorXd &p_gains, const Eigen::VectorXd &d_gains)

void set_gains(const std::vector<double> &p_gains, const std::vector<double> &d_gains)

void set_reference(const Eigen::VectorXd &tau_ref, const Eigen::VectorXd &q_ref)

Public Members

EIGEN_MAKE_ALIGNED_OPERATOR_NEW