control_toolbox::LimitedProxy Class Reference

#include <limited_proxy.h>

Public Member Functions
	LimitedProxy ()
void	reset (double pos_act, double vel_act)
double	update (double pos_des, double vel_des, double acc_des, double pos_act, double vel_act, double dt)

Public Attributes
double	acc_converge_
double	effort_limit_
double	Ficl_
double	Kd_
double	Ki_
double	Kp_
double	lambda_proxy_
double	mass_
double	pos_lower_limit_
double	pos_upper_limit_
double	vel_limit_

Private Attributes
double	last_int_error_
double	last_pos_error_
double	last_proxy_acc_
double	last_proxy_pos_
double	last_proxy_vel_
double	last_vel_error_

Detailed Description

Definition at line 39 of file limited_proxy.h.

Constructor & Destructor Documentation

control_toolbox::LimitedProxy::LimitedProxy ( )

inline

Definition at line 56 of file limited_proxy.h.

Member Function Documentation

void control_toolbox::LimitedProxy::reset	(	double	pos_act,
		double	vel_act
	)

Definition at line 138 of file limited_proxy.cpp.

double control_toolbox::LimitedProxy::update	(	double	pos_des,
		double	vel_des,
		double	acc_des,
		double	pos_act,
		double	vel_act,
		double	dt
	)

Definition at line 157 of file limited_proxy.cpp.

Member Data Documentation

double control_toolbox::LimitedProxy::acc_converge_

Definition at line 53 of file limited_proxy.h.

double control_toolbox::LimitedProxy::effort_limit_

Definition at line 48 of file limited_proxy.h.

double control_toolbox::LimitedProxy::Ficl_

Definition at line 47 of file limited_proxy.h.

double control_toolbox::LimitedProxy::Kd_

Definition at line 44 of file limited_proxy.h.

double control_toolbox::LimitedProxy::Ki_

Definition at line 46 of file limited_proxy.h.

double control_toolbox::LimitedProxy::Kp_

Definition at line 45 of file limited_proxy.h.

double control_toolbox::LimitedProxy::lambda_proxy_

Definition at line 52 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_int_error_

private

Definition at line 77 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_pos_error_

private

Definition at line 76 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_proxy_acc_

private

Definition at line 73 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_proxy_pos_

private

Definition at line 71 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_proxy_vel_

private

Definition at line 72 of file limited_proxy.h.

double control_toolbox::LimitedProxy::last_vel_error_

private

Definition at line 75 of file limited_proxy.h.

double control_toolbox::LimitedProxy::mass_

Definition at line 43 of file limited_proxy.h.

double control_toolbox::LimitedProxy::pos_lower_limit_

Definition at line 51 of file limited_proxy.h.

double control_toolbox::LimitedProxy::pos_upper_limit_

Definition at line 50 of file limited_proxy.h.

double control_toolbox::LimitedProxy::vel_limit_

Definition at line 49 of file limited_proxy.h.

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

• limited_proxy.h
• limited_proxy.cpp