scl::CServo Class Reference

#include <CServo.hpp>

Inheritance diagram for scl::CServo:

Collaboration diagram for scl::CServo:

Public Member Functions
bool	computeControlForces ()
	CServo ()
virtual	~CServo ()
bool	init (const std::string &arg_ctrl_name, SServo *arg_data)
void	reset ()
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Private Attributes
SServo *	data_

Detailed Description

Computes the main servo loop's data:

Main servo loop:

1. Accesses the current torques from each task
2. Projects the torques through the range spaces
3. Sums them up to obtain the combined robot torque

NOTE: The servo DOES NOT update each individual task's torques. The controller (above) does that.

Constructor & Destructor Documentation

scl::CServo::CServo ( )

inline

Default constructor. Does nothing.

virtual scl::CServo::~CServo ( )

inlinevirtual

Default destructor. Does nothing.

Member Function Documentation

bool scl::CServo::computeControlForces

(

)

Computes the command forces (in generalized coordinate; usually joint torques) by accepting the latest forces from the task servos and filtering them through their range spaces.

Assumes that the range spaces are computed by a controller implementation (orthogonal task-levels or any other style)

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

bool scl::CServo::init	(	const std::string &	arg_ctrl_name,
		SServo *	arg_data
	)

Initializes a servo. NOTE : The arg_data pointer should point to a parent controller's SControllerMultiTask object

void scl::CServo::reset

(

)

Resets the servo to its default state (so that an new controller may be attached to it).

Member Data Documentation

SServo* scl::CServo::data_

private

All the data a servo loop should ever need see doc/ControllerDesign.eps for more details.

This a pointer because the actual data structure is stored in the SControllerMultiTask (so that the graphics, for instance, can access control torques).

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

std::string scl::SObject::name_

inherited

The object's name

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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

• /home/samir/Code/control/scl.git/src/scl/control/task/CServo.hpp
• /home/samir/Code/control/scl.git/src/scl/control/task/CServo.cpp