limited_proxy.h
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34 #ifndef CONTROL_TOOLBOX__LIMITED_PROXY_H
35 #define CONTROL_TOOLBOX__LIMITED_PROXY_H
36 
37 namespace control_toolbox {
38 
40 {
41  public:
42  // Controller parameter values
43  double mass_; // Estimate of the joint mass
44  double Kd_; // Damping gain
45  double Kp_; // Position gain
46  double Ki_; // Integral gain
47  double Ficl_; // Integral force clamp
48  double effort_limit_; // Limit on output force
49  double vel_limit_; // Limit on velocity
50  double pos_upper_limit_; // Upper position bound
51  double pos_lower_limit_; // Lower position bound
52  double lambda_proxy_; // Bandwidth of proxy reconvergence
53  double acc_converge_; // Acceleration of proxy reconvergence
54 
55 
57  : mass_(0.0), Kd_(0.0), Kp_(0.0), Ki_(0.0), Ficl_(0.0),
58  effort_limit_(0.0), vel_limit_(0.0),
59  pos_upper_limit_(0.0), pos_lower_limit_(0.0),
60  lambda_proxy_(0.0), acc_converge_(0.0)
61  {
62  }
63 
64  void reset(double pos_act, double vel_act);
65 
66  double update(double pos_des, double vel_des, double acc_des,
67  double pos_act, double vel_act, double dt);
68 
69  private:
70  // Controller state values
71  double last_proxy_pos_; // Proxy position
72  double last_proxy_vel_; // Proxy velocity
73  double last_proxy_acc_; // Proxy acceleration
74 
75  double last_vel_error_; // Velocity error
76  double last_pos_error_; // Position error
77  double last_int_error_; // Integral error
78 };
79 
80 } // namespace
81 
82 #endif
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)


control_toolbox
Author(s): Melonee Wise, Sachin Chitta, John Hsu
autogenerated on Mon Jun 10 2019 12:56:31