Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
MotorTorqueController::MotorController Class Reference

Public Member Functions

double getMotorControllerDq (void)
 
bool getTwoDofControllerDynamiccsModelParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
 
bool getTwoDofControllerParam (TwoDofController::TwoDofControllerParam &_param)
 
bool getTwoDofControllerPDModelParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
 
 MotorController ()
 
void setErrorPrefix (const std::string &_error_prefix)
 
void setupTwoDofController (TwoDofController::TwoDofControllerParam &_param)
 
void setupTwoDofControllerDynamicsModel (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
 
void setupTwoDofControllerPDModel (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
 
bool updateTwoDofControllerDynamiccsModelParam (TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam &_param)
 
bool updateTwoDofControllerParam (TwoDofController::TwoDofControllerParam &_param)
 
bool updateTwoDofControllerPDModelParam (TwoDofControllerPDModel::TwoDofControllerPDModelParam &_param)
 
 ~MotorController ()
 

Public Attributes

boost::shared_ptr< TwoDofControllerInterfacecontroller
 
double dq
 
double max_dq
 
double max_transition_dq
 
double min_dq
 
double min_transition_dq
 
double recovery_dq
 
controller_state_t state
 
double transition_dq
 

Private Member Functions

bool updateParam (double &_param, const double &_new_value)
 

Private Attributes

std::string error_prefix
 

Detailed Description

Definition at line 78 of file MotorTorqueController.h.

Constructor & Destructor Documentation

MotorTorqueController::MotorController::MotorController ( )

Definition at line 396 of file MotorTorqueController.cpp.

MotorTorqueController::MotorController::~MotorController ( )

Definition at line 408 of file MotorTorqueController.cpp.

Member Function Documentation

double MotorTorqueController::MotorController::getMotorControllerDq ( void  )

Definition at line 553 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::getTwoDofControllerDynamiccsModelParam ( TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam _param)

Definition at line 501 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::getTwoDofControllerParam ( TwoDofController::TwoDofControllerParam _param)

Definition at line 418 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::getTwoDofControllerPDModelParam ( TwoDofControllerPDModel::TwoDofControllerPDModelParam _param)

Definition at line 458 of file MotorTorqueController.cpp.

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

Definition at line 547 of file MotorTorqueController.cpp.

void MotorTorqueController::MotorController::setupTwoDofController ( TwoDofController::TwoDofControllerParam _param)

Definition at line 412 of file MotorTorqueController.cpp.

void MotorTorqueController::MotorController::setupTwoDofControllerDynamicsModel ( TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam _param)

Definition at line 495 of file MotorTorqueController.cpp.

void MotorTorqueController::MotorController::setupTwoDofControllerPDModel ( TwoDofControllerPDModel::TwoDofControllerPDModelParam _param)

Definition at line 452 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::updateParam ( double &  _param,
const double &  _new_value 
)
private

Definition at line 538 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::updateTwoDofControllerDynamiccsModelParam ( TwoDofControllerDynamicsModel::TwoDofControllerDynamicsModelParam _param)

Definition at line 517 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::updateTwoDofControllerParam ( TwoDofController::TwoDofControllerParam _param)

Definition at line 432 of file MotorTorqueController.cpp.

bool MotorTorqueController::MotorController::updateTwoDofControllerPDModelParam ( TwoDofControllerPDModel::TwoDofControllerPDModelParam _param)

Definition at line 474 of file MotorTorqueController.cpp.

Member Data Documentation

boost::shared_ptr<TwoDofControllerInterface> MotorTorqueController::MotorController::controller

Definition at line 82 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::dq

Definition at line 84 of file MotorTorqueController.h.

std::string MotorTorqueController::MotorController::error_prefix
private

Definition at line 108 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::max_dq

Definition at line 88 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::max_transition_dq

Definition at line 90 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::min_dq

Definition at line 87 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::min_transition_dq

Definition at line 89 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::recovery_dq

Definition at line 86 of file MotorTorqueController.h.

controller_state_t MotorTorqueController::MotorController::state

Definition at line 83 of file MotorTorqueController.h.

double MotorTorqueController::MotorController::transition_dq

Definition at line 85 of file MotorTorqueController.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Thu May 6 2021 02:41:53