Select controller class. More...

#include <control_select.h>

Public Member Functions
	Control_Select ()
	Constructor.
	Control_Select (const std::string &filename)
int	get_dof ()
	Return the degree of freedom.
void	set_control (const std::string &filename)
	Select the proper controller from filename.
Public Attributes
std::string	ControllerName
	Controller name.
Computed_torque_method	ctm
Impedance	impedance
Proportional_Derivative	pd
Resolved_acc	rra
short	space_type
	JOINT_SPACE or CARTESIAN_SPACE.
short	type
	Type of controller: PD, CTM,...
Private Attributes
int	dof
	Degree of freedom.

Detailed Description

Select controller class.

This class contains an instance of each controller class. The active controller will be selected when reading a controller file. "type" value correspond to the active controller, ex:

type = NONE : no controller selected
type = PD : Proportional Derivative
type = CTM : Computer Torque Method
type = RRA : Resolved Rate Acceleration
type = IMP : Impedance

Bellow is an exemple of RRA configuration file (more info on configuration file in config.h/cpp):

  [CONTROLLER]

  type:   RESOLVED_RATE_ACCELERATION
  dof:    6

  [GAINS]

  Kvp:         500.0
  Kpp:        5000.0
  Kvo:         500.0
  Kpo:        5000.0

Definition at line 100 of file control_select.h.