scl::SServo Class Reference

#include <SServo.hpp>

Inheritance diagram for scl::SServo:

Collaboration diagram for scl::SServo:

Public Member Functions
	SServo ()
sBool	init (const SRobotParsed *arg_robot_ds, sutil::CMappedMultiLevelList< std::string, STaskBase * > *arg_task_ds)
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
Eigen::VectorXd	force_gc_
sutil::CMappedMultiLevelList < std::string, STaskBase * > *	task_data_
const SRobotParsed *	robot_
std::string	name_
sBool	has_been_init_

Protected Attributes
std::string	type_

Detailed Description

A data structure to store the main servo loop's data. The main servo loop accesses the current torques to be applied from each task, computes the range spaces of the tasks and projects the torques through them to obtain the combined robot control force in generalized coordinates (usually joint torques).

Ie. Servo's job (pseudocode): force_gc_.zero(); for(all-task-data){ compute-range-space(task_data_); force_gc_+=task_data_->range_space * task_data_->force_gc_; }

See docs/ControllerDesign.eps for an overview of how the controller works

Constructor & Destructor Documentation

scl::SServo::SServo

(

)

The default 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::SServo::init	(	const SRobotParsed *	arg_robot_ds,
		sutil::CMappedMultiLevelList< std::string, STaskBase * > *	arg_task_ds
	)

Initializes the servo and sets has_been_init_ to true

Member Data Documentation

Eigen::VectorXd scl::SServo::force_gc_

Servo forces to be sent to the robot directly. The purpose of a controller is to compute these

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

std::string scl::SObject::name_

inherited

The object's name

const SRobotParsed* scl::SServo::robot_

The robot's branching structure

sutil::CMappedMultiLevelList<std::string, STaskBase*>* scl::SServo::task_data_

For the task torques and range spaces

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