TwoDofControllerPDModel.h
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1 // -*- C++ -*-
10 #ifndef TWO_DOF_CONTROLLER_PDMODEL_H
11 #define TWO_DOF_CONTROLLER_PDMODEL_H
12 
13 // </rtc-template>
14 
15 #include "../Stabilizer/TwoDofController.h"
16 #include "Convolution.h"
17 #include <vector>
18 
20 public:
22  public:
24  ke = kd = tc = dt = 0.0; // set default param
25  }
27  }
28  static int getControllerParamNum() {
29  return 3;
30  }
31  double ke; // Pgain
32  double kd; // Dgain
33  double tc; // time constant
34  double dt; // control cycle (not controller but system parameter)
35  };
37  TwoDofControllerPDModel(TwoDofControllerPDModelParam &_param, unsigned int _range = 0);
39  void setup();
40  void setup(TwoDofControllerPDModelParam &_param, unsigned int _range = 0);
41  void reset();
42  double update(double _x, double _xd);
43  bool getParameter();
45 private:
47  double current_time;
48  std::vector<Convolution> convolutions;
49 };
50 
51 #endif // TWO_DOF_CONTROLLER_PDMODEL_H
Convolution Calculator.
std::vector< Convolution > convolutions
TwoDofControllerPDModelParam param
double update(double _x, double _xd)


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Sat Dec 17 2022 03:52:21