srh_joint_muscle_valve_controller.cpp File Reference

Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons. More...

#include "sr_mechanism_controllers/srh_joint_muscle_valve_controller.hpp"
#include "angles/angles.h"
#include "pluginlib/class_list_macros.h"
#include <string>
#include <sstream>
#include <math.h>
#include "sr_utilities/sr_math_utils.hpp"
#include <std_msgs/Float64.h>

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Namespaces
	controller

Detailed Description

Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons.

Author

Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date

Wed Aug 17 12:32:01 2011

Definition in file srh_joint_muscle_valve_controller.cpp.