Compute a velocity demand from the position error using a PID loop. The velocity demand is then converted into a force demand by a second PID loop and is sent to the motor. More...
#include <sr_mechanism_controllers/sr_controller.hpp>#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>#include <sr_robot_msgs/JointControllerState.h>
Go to the source code of this file.
Classes | |
| class | controller::SrhMixedPositionVelocityJointController |
Namespaces | |
| namespace | controller |
Detailed Description
Compute a velocity demand from the position error using a PID loop. The velocity demand is then converted into a force demand by a second PID loop and is sent to the motor.
- Date:
- Wed Aug 17 12:32:01 2011
Copyright 2011 Shadow Robot Company Ltd.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
Definition in file srh_mixed_position_velocity_controller.hpp.