limited_proxy.h
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00034 #ifndef CONTROL_TOOLBOX__LIMITED_PROXY_H
00035 #define CONTROL_TOOLBOX__LIMITED_PROXY_H
00036 
00037 namespace control_toolbox {
00038 
00039 class LimitedProxy
00040 {
00041  public:
00042   // Controller parameter values
00043   double mass_;                 // Estimate of the joint mass
00044   double Kd_;                   // Damping gain
00045   double Kp_;                   // Position gain
00046   double Ki_;                   // Integral gain
00047   double Ficl_;                 // Integral force clamp
00048   double effort_limit_;         // Limit on output force
00049   double vel_limit_;            // Limit on velocity
00050   double pos_upper_limit_;      // Upper position bound
00051   double pos_lower_limit_;      // Lower position bound
00052   double lambda_proxy_;         // Bandwidth of proxy reconvergence
00053   double acc_converge_;         // Acceleration of proxy reconvergence
00054 
00055   
00056  LimitedProxy()
00057    : mass_(0.0), Kd_(0.0), Kp_(0.0), Ki_(0.0), Ficl_(0.0),
00058      effort_limit_(0.0), vel_limit_(0.0),
00059      pos_upper_limit_(0.0), pos_lower_limit_(0.0),
00060      lambda_proxy_(0.0), acc_converge_(0.0)
00061   {
00062   }
00063 
00064   void reset(double pos_act, double vel_act);
00065 
00066   double update(double pos_des, double vel_des, double acc_des,
00067                 double pos_act, double vel_act, double dt);
00068 
00069  private:
00070   // Controller state values
00071   double last_proxy_pos_;       // Proxy position
00072   double last_proxy_vel_;       // Proxy velocity
00073   double last_proxy_acc_;       // Proxy acceleration
00074 
00075   double last_vel_error_;       // Velocity error
00076   double last_pos_error_;       // Position error
00077   double last_int_error_;       // Integral error
00078 };
00079   
00080 } // namespace
00081 
00082 #endif


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Sat Jun 8 2019 20:43:37