Public Member Functions | Protected Attributes | Private Member Functions | Private Attributes
PDcontroller Class Reference

#include <PDcontroller.h>

Inheritance diagram for PDcontroller:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onInitialize ()
 PDcontroller (RTC::Manager *manager)
 ~PDcontroller ()

Protected Attributes

TimedDoubleSeq m_angle
InPort< TimedDoubleSeq > m_angleIn
TimedDoubleSeq m_angleRef
InPort< TimedDoubleSeq > m_angleRefIn
TimedDoubleSeq m_torque
OutPort< TimedDoubleSeq > m_torqueOut

Private Member Functions

void readGainFile ()

Private Attributes

hrp::dvector Dgain
size_t dof
double dt
int dummy
std::ifstream gain
std::string gain_fname
size_t loop
unsigned int m_debugLevel
hrp::BodyPtr m_robot
int nstep
hrp::dvector Pgain
hrp::dvector qold
hrp::dvector qold_ref
double ref_dt
int step
hrp::dvector tlimit_ratio

Detailed Description

Definition at line 39 of file PDcontroller.h.


Constructor & Destructor Documentation

Definition at line 35 of file PDcontroller.cpp.

Definition at line 49 of file PDcontroller.cpp.


Member Function Documentation

Reimplemented from RTC::RTObject_impl.

Definition at line 122 of file PDcontroller.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 135 of file PDcontroller.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 142 of file PDcontroller.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 54 of file PDcontroller.cpp.

Definition at line 187 of file PDcontroller.cpp.


Member Data Documentation

Definition at line 140 of file PDcontroller.h.

size_t PDcontroller::dof [private]

Definition at line 141 of file PDcontroller.h.

double PDcontroller::dt [private]

Definition at line 134 of file PDcontroller.h.

Definition at line 143 of file PDcontroller.h.

std::ifstream PDcontroller::gain [private]

Definition at line 138 of file PDcontroller.h.

std::string PDcontroller::gain_fname [private]

Definition at line 139 of file PDcontroller.h.

size_t PDcontroller::loop [private]

Definition at line 141 of file PDcontroller.h.

TimedDoubleSeq PDcontroller::m_angle [protected]

Definition at line 102 of file PDcontroller.h.

InPort<TimedDoubleSeq> PDcontroller::m_angleIn [protected]

Definition at line 103 of file PDcontroller.h.

TimedDoubleSeq PDcontroller::m_angleRef [protected]

Definition at line 104 of file PDcontroller.h.

InPort<TimedDoubleSeq> PDcontroller::m_angleRefIn [protected]

Definition at line 105 of file PDcontroller.h.

unsigned int PDcontroller::m_debugLevel [private]

Definition at line 142 of file PDcontroller.h.

Definition at line 133 of file PDcontroller.h.

TimedDoubleSeq PDcontroller::m_torque [protected]

Definition at line 111 of file PDcontroller.h.

OutPort<TimedDoubleSeq> PDcontroller::m_torqueOut [protected]

Definition at line 112 of file PDcontroller.h.

Definition at line 137 of file PDcontroller.h.

Definition at line 140 of file PDcontroller.h.

Definition at line 140 of file PDcontroller.h.

Definition at line 140 of file PDcontroller.h.

double PDcontroller::ref_dt [private]

Definition at line 135 of file PDcontroller.h.

Definition at line 136 of file PDcontroller.h.

Definition at line 140 of file PDcontroller.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:20