scl::CControllerBase Class Reference

#include <CControllerBase.hpp>

Inheritance diagram for scl::CControllerBase:

Collaboration diagram for scl::CControllerBase:

Public Member Functions
	CControllerBase ()
virtual	~CControllerBase ()
virtual sBool	computeControlForces ()=0
virtual sBool	computeDynamics ()=0
virtual sBool	computeNonControlOperations ()=0
virtual sBool	init (SControllerBase *arg_data, scl::CDynamicsBase *arg_dynamics)=0
virtual sBool	reset ()=0
virtual sBool	hasBeenInit ()

Protected Attributes
sBool	has_been_init_
CDynamicsBase *	dynamics_

Detailed Description

Basic force controller.

All force controllers should inherit from this.

Should be associated with a robot at initialization time. Else should be stateless. Ie. A CRobot object should be able to use this controller with any control data structure.

Constructor & Destructor Documentation

scl::CControllerBase::CControllerBase ( )

inline

The constructor sets the initialization state to false

virtual scl::CControllerBase::~CControllerBase ( )

inlinevirtual

The destructor does nothing

Member Function Documentation

virtual sBool scl::CControllerBase::computeControlForces ( )

pure virtual

Equal to task forces or generalized coordinate forces depending on the type of controller that implements this API

Implemented in scl::CControllerMultiTask, and scl::CControllerGc.

virtual sBool scl::CControllerBase::computeDynamics ( )

pure virtual

Computes the dynamic model : Mass, MassInv, centrifugal/coriolis, gravity, null spaces etc.

Implemented in scl::CControllerMultiTask, and scl::CControllerGc.

virtual sBool scl::CControllerBase::computeNonControlOperations ( )

pure virtual

Support for non control computations in the controller. This is a good place to add error checks, logging, communication etc. Basically anything that doesn't require hard real-time and high-performance constratints.

Implemented in scl::CControllerMultiTask, and scl::CControllerGc.

virtual sBool scl::CControllerBase::hasBeenInit ( )

inlinevirtual

Whether the controller has been attached to a robot or not

Reimplemented in scl::CControllerGc.

virtual sBool scl::CControllerBase::init ( SControllerBase *  arg_data, scl::CDynamicsBase *  arg_dynamics  )

pure virtual

Whether the controller has been initialized to a particular robot

The controllers must implement their choice of "public" init function, which sets has_been_setup_ to true.

The public init must accept a subclass of SControllerBase as its (pre-initialized) data structure.

See CControllerGc's implementation for more details.

(has_been_setup_ == true) MUST BE a pre-requisite to running any controller.

Implemented in scl::CControllerMultiTask, and scl::CControllerGc.

virtual sBool scl::CControllerBase::reset ( )

pure virtual

Reset the controller (set it to execute a different behavior perhaps) NOTE : This does not reset the data structure or deallocate its memory because the data structure really should sit on a pile in the database

Implemented in scl::CControllerMultiTask, and scl::CControllerGc.

---

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

• /home/samir/Code/control/scl.git/src/scl/control/CControllerBase.hpp