#include <SControllerGc.hpp>

Inheritance diagram for scl::SControllerGc:

Collaboration diagram for scl::SControllerGc:

Public Member Functions
	SControllerGc ()

sBool	init (const std::string &arg_controller_name, SRobotParsed arg_robot_ds, SRobotIO arg_robot_io_ds, const Eigen::VectorXd &arg_kp, const Eigen::VectorXd &arg_kv, const Eigen::VectorXd &arg_ka, const Eigen::VectorXd &arg_ki, const Eigen::VectorXd &arg_fgc_max, const Eigen::VectorXd &arg_fgc_min)

virtual sBool	init (const std::string &arg_controller_name, const SRobotParsed arg_robot_ds, SRobotIO arg_io_data, SGcModel *arg_gc_model=S_NULL)

virtual const std::string &	getType () const

virtual const std::string &	getName () const

virtual bool	hasBeenInit () const

Public Attributes
Eigen::VectorXd	des_force_gc_

Eigen::VectorXd	des_q_

Eigen::VectorXd	des_dq_

Eigen::VectorXd	des_ddq_

Eigen::VectorXd	force_gc_max_

Eigen::VectorXd	force_gc_min_

Eigen::VectorXd	kp_

Eigen::VectorXd	kv_

Eigen::VectorXd	ka_

Eigen::VectorXd	ki_

sFloat	integral_gain_time_pre_

sFloat	integral_gain_time_curr_

Eigen::VectorXd	integral_force_

std::string	robot_name_

const SRobotParsed *	robot_

SRobotIO *	io_data_

SGcModel *	gc_model_

std::string	name_

sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

Generalized coordinate force controller (joint-space controller) data structure.

Works with an arbitrary actuated articulated body, with direct force control at the generalized coordinates.

Supports dynamically decoupled control, which is equivalent to controlling a unit mass in the generalized coordinates.

Constructor & Destructor Documentation

scl::SControllerGc::SControllerGc ( )

Constructor. Does nothing

Member Function Documentation

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

sBool scl::SControllerBase::init	(	const std::string &	arg_controller_name,
		const SRobotParsed *	arg_robot_ds,
		SRobotIO *	arg_io_data,
		SGcModel *	arg_gc_model = `S_NULL`
	)

virtualinherited

Initializes the data structure

Reimplemented in scl::SControllerMultiTask.

Member Data Documentation

Eigen::VectorXd scl::SControllerGc::des_ddq_

Desired generalized accelerations

Eigen::VectorXd scl::SControllerGc::des_dq_

Desired generalized velocities

Eigen::VectorXd scl::SControllerGc::des_force_gc_

Desired generalized coordinate forces (usually joint torques)

Eigen::VectorXd scl::SControllerGc::des_q_

Desired generalized positions

Eigen::VectorXd scl::SControllerGc::force_gc_max_

Upper and lower applied force limits (Why separate max and min? Muscles can only pull, not push.)

SGcModel* scl::SControllerBase::gc_model_

inherited

Pointer to the JSpace model DS.

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

Eigen::VectorXd scl::SControllerGc::integral_force_

The integral force term. Required because integral control is not time invariant.

sFloat scl::SControllerGc::integral_gain_time_pre_

Set the integral gain decay rate. Ie. Degrade last timestep's influence by x%

Typical use in a PID controller Force = Force + ki * pos_err * (t_curr - t_pre);

SRobotIO* scl::SControllerBase::io_data_

inherited

Robot sensor and actuator data

Eigen::VectorXd scl::SControllerGc::kp_

Gains (scalar if same for different dimensions; vector if different for different dimensions)

Computed by : None. These are constants. Used by : The GcController to calculate gc forces

std::string scl::SObject::name_

inherited

The object's name

const SRobotParsed* scl::SControllerBase::robot_

inherited

Pointer to the static robot data (parsed from a file)

std::string scl::SControllerBase::robot_name_

inherited

Name of the robot

std::string scl::SObject::type_

protectedinherited

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

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

/home/samir/Code/control/scl.git/src/scl/control/gc/data_structs/SControllerGc.hpp
/home/samir/Code/control/scl.git/src/scl/control/gc/data_structs/SControllerGc.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation