kni: Proportional_Derivative Class Reference

Proportional derivative controller class. More...

#include <controller.h>

List of all members.

Public Member Functions
	Proportional_Derivative (const short dof=1)
	Constructor.
	Proportional_Derivative (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)
	Constructor.
short	set_Kd (const DiagonalMatrix &Kd)
	Assign the velocity error gain matrix .
short	set_Kp (const DiagonalMatrix &Kp)
	Assign the position error gain matrix .
ReturnMatrix	torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
	Output torque.
Private Attributes
int	dof
	Degree of freedom.
DiagonalMatrix	Kd
	Velocity error gain.
DiagonalMatrix	Kp
	Position error gain.
ColumnVector	q
	Robot joints positions.
ColumnVector	qp
	Robot joints velocity.
ColumnVector	qpp
	Robot joints acceleration.
ColumnVector	tau
	Output torque.
ColumnVector	zero3
	$3\times 1$ zero vector.

Detailed Description

Proportional derivative controller class.

The driving torques can be expressed as

$\tau = K_p(q_d-q) + K_d(\dot{q}_d-q)$

where $K_p$ , $K_d$ are diagonal positive definie matrix.

Definition at line 252 of file controller.h.

Constructor & Destructor Documentation

Proportional_Derivative::Proportional_Derivative ( const short dof = 1 )

Constructor.

Definition at line 609 of file controller.cpp.

Proportional_Derivative::Proportional_Derivative	(	const Robot_basic &	robot,
		const DiagonalMatrix &	Kp,
		const DiagonalMatrix &	Kd
	)

Constructor.

Definition at line 618 of file controller.cpp.

Member Function Documentation

short Proportional_Derivative::set_Kd ( const DiagonalMatrix & Kd_ )

Assign the velocity error gain matrix $K_p(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 657 of file controller.cpp.

short Proportional_Derivative::set_Kp ( const DiagonalMatrix & Kp_ )

Assign the position error gain matrix $K_p(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 674 of file controller.cpp.

ReturnMatrix Proportional_Derivative::torque_cmd	(	Robot_basic &	robot,
		const ColumnVector &	qd,
		const ColumnVector &	qpd
	)

Output torque.

Definition at line 632 of file controller.cpp.

Member Data Documentation

int Proportional_Derivative::dof [private]

Degree of freedom.

Definition at line 263 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kd [private]

Velocity error gain.

Definition at line 269 of file controller.h.

DiagonalMatrix Proportional_Derivative::Kp [private]

Position error gain.

Definition at line 269 of file controller.h.

ColumnVector Proportional_Derivative::q [private]

Robot joints positions.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qp [private]

Robot joints velocity.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::qpp [private]

Robot joints acceleration.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::tau [private]

Output torque.

Definition at line 264 of file controller.h.

ColumnVector Proportional_Derivative::zero3 [private]

$3\times 1$ zero vector.

Definition at line 264 of file controller.h.

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

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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:55