Class robot_dart::control::PDControl¶

ClassList > robot_dart > control > PDControl

Inherits the following classes: robot_dart::control::RobotControl

Public Functions¶

Type	Name
	PDControl ()
	PDControl (const Eigen::VectorXd & ctrl, bool full_control=false, bool use_angular_errors=true)
	PDControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs, bool use_angular_errors=true)
virtual Eigen::VectorXd	calculate (double) override
virtual std::shared_ptr< RobotControl >	clone () override const
virtual void	configure () override
std::pair< Eigen::VectorXd, Eigen::VectorXd >	pd () const
void	set_pd (double p, double d)
void	set_pd (const Eigen::VectorXd & p, const Eigen::VectorXd & d)
void	set_use_angular_errors (bool enable=true)
bool	using_angular_errors () const

Public Functions inherited from robot_dart::control::RobotControl¶

See robot_dart::control::RobotControl

Type	Name
	RobotControl ()
	RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false)
	RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs)
void	activate (bool enable=true)
bool	active () const
virtual Eigen::VectorXd	calculate (double t) = 0
virtual std::shared_ptr< RobotControl >	clone () const = 0
virtual void	configure () = 0
const std::vector< std::string > &	controllable_dofs () const
void	init ()
const Eigen::VectorXd &	parameters () const
std::shared_ptr< Robot >	robot () const
void	set_parameters (const Eigen::VectorXd & ctrl)
void	set_robot (const std::shared_ptr< Robot > & robot)
void	set_weight (double weight)
double	weight () const
virtual	~RobotControl ()

Protected Attributes¶

Type	Name
Eigen::VectorXd	_Kd
Eigen::VectorXd	_Kp
bool	_use_angular_errors

Protected Attributes inherited from robot_dart::control::RobotControl¶

See robot_dart::control::RobotControl

Type	Name
bool	_active
bool	_check_free = = false
int	_control_dof
std::vector< std::string >	_controllable_dofs
Eigen::VectorXd	_ctrl
int	_dof
std::weak_ptr< Robot >	_robot
double	_weight

Protected Static Functions¶

Type	Name
double	_angle_dist (double target, double current)

Public Functions Documentation¶

function PDControl [⅓]¶

robot_dart::control::PDControl::PDControl ()

function PDControl [⅔]¶

robot_dart::control::PDControl::PDControl (
    const Eigen::VectorXd & ctrl,
    bool full_control=false,
    bool use_angular_errors=true
)

function PDControl [3/3]¶

robot_dart::control::PDControl::PDControl (
    const Eigen::VectorXd & ctrl,
    const std::vector< std::string > & controllable_dofs,
    bool use_angular_errors=true
)

function calculate¶

virtual Eigen::VectorXd robot_dart::control::PDControl::calculate (
    double
) override

Implements robot_dart::control::RobotControl::calculate

function clone¶

virtual std::shared_ptr< RobotControl > robot_dart::control::PDControl::clone () override const

Implements robot_dart::control::RobotControl::clone

function configure¶

virtual void robot_dart::control::PDControl::configure () override

Implements robot_dart::control::RobotControl::configure

function pd¶

std::pair< Eigen::VectorXd, Eigen::VectorXd > robot_dart::control::PDControl::pd () const

function set_pd [½]¶

void robot_dart::control::PDControl::set_pd (
    double p,
    double d
)

function set_pd [2/2]¶

void robot_dart::control::PDControl::set_pd (
    const Eigen::VectorXd & p,
    const Eigen::VectorXd & d
)

function set_use_angular_errors¶

void robot_dart::control::PDControl::set_use_angular_errors (
    bool enable=true
)

function using_angular_errors¶

bool robot_dart::control::PDControl::using_angular_errors () const

Protected Attributes Documentation¶

variable _Kd¶

Eigen::VectorXd robot_dart::control::PDControl::_Kd;

variable _Kp¶

Eigen::VectorXd robot_dart::control::PDControl::_Kp;

variable _use_angular_errors¶

bool robot_dart::control::PDControl::_use_angular_errors;

Protected Static Functions Documentation¶

function _angle_dist¶

static double robot_dart::control::PDControl::_angle_dist (
    double target,
    double current
)

The documentation for this class was generated from the following file robot_dart/control/pd_control.hpp