Classes | Public Types | Public Member Functions | Private Member Functions | Private Attributes
MotorTorqueController Class Reference

#include <MotorTorqueController.h>

List of all members.

Classes

class  MotorController

Public Types

enum  controller_state_t { INACTIVE, STOP, ACTIVE }
enum  motor_model_t { TWO_DOF_CONTROLLER, TWO_DOF_CONTROLLER_PD_MODEL, TWO_DOF_CONTROLLER_DYNAMICS_MODEL }

Public Member Functions

bool activate (void)
bool deactivate (void)
bool disable (void)
bool enable (void)
double execute (double _tau, double _tauMax)
bool getControllerParam (TwoDofController::TwoDofControllerParam &_param)
bool getControllerParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
bool getControllerParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
std::string getJointName (void)
controller_state_t getMotorControllerState (void)
motor_model_t getMotorModelType (void)
bool isEnabled (void)
 MotorTorqueController ()
 MotorTorqueController (std::string _jname, TwoDofController::TwoDofControllerParam &_param)
 MotorTorqueController (std::string _jname, TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
 MotorTorqueController (std::string _jname, TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
void printMotorControllerVariables (void)
void setErrorPrefix (const std::string &_error_prefix)
bool setReferenceTorque (double _tauRef)
void setupController (TwoDofController::TwoDofControllerParam &_param)
void setupController (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
void setupController (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
void setupMotorControllerControlMinMaxDq (double _min_dq, double _max_dq)
void setupMotorControllerTransitionMinMaxDq (double _min_transition_dq, double _max_transition_dq)
bool updateControllerParam (TwoDofController::TwoDofControllerParam &_param)
bool updateControllerParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
bool updateControllerParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
 ~MotorTorqueController (void)

Private Member Functions

void prepareStop (MotorController &_mc)
void resetMotorControllerVariables (MotorController &_mc)
void setupControllerCommon (std::string _jname, double _dt)
void updateController (double _tau, double _tauRef, MotorController &_mc)

Private Attributes

double m_actual_tauRef
double m_command_tauRef
double m_current_tau
double m_dt
MotorController m_emergencyController
bool m_enable_flag
std::string m_error_prefix
std::string m_joint_name
motor_model_t m_motor_model_type
MotorController m_normalController
int m_transition_count

Detailed Description

Definition at line 21 of file MotorTorqueController.h.


Member Enumeration Documentation

Enumerator:
INACTIVE 
STOP 
ACTIVE 

Definition at line 29 of file MotorTorqueController.h.

Enumerator:
TWO_DOF_CONTROLLER 
TWO_DOF_CONTROLLER_PD_MODEL 
TWO_DOF_CONTROLLER_DYNAMICS_MODEL 

Definition at line 23 of file MotorTorqueController.h.


Constructor & Destructor Documentation

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Member Function Documentation

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double MotorTorqueController::execute ( double  _tau,
double  _tauMax 
)

Definition at line 236 of file MotorTorqueController.cpp.

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void MotorTorqueController::setErrorPrefix ( const std::string &  _error_prefix)

Definition at line 309 of file MotorTorqueController.cpp.

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void MotorTorqueController::setupControllerCommon ( std::string  _jname,
double  _dt 
) [private]

Definition at line 336 of file MotorTorqueController.cpp.

void MotorTorqueController::setupMotorControllerControlMinMaxDq ( double  _min_dq,
double  _max_dq 
)

Definition at line 189 of file MotorTorqueController.cpp.

void MotorTorqueController::setupMotorControllerTransitionMinMaxDq ( double  _min_transition_dq,
double  _max_transition_dq 
)

Definition at line 199 of file MotorTorqueController.cpp.

void MotorTorqueController::updateController ( double  _tau,
double  _tauRef,
MotorTorqueController::MotorController _mc 
) [private]

Definition at line 371 of file MotorTorqueController.cpp.

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Member Data Documentation

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double MotorTorqueController::m_dt [private]

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std::string MotorTorqueController::m_joint_name [private]

Definition at line 117 of file MotorTorqueController.h.

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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57