jspace::FloatController Class Reference

#include <controller_library.hpp>

Inheritance diagram for jspace::FloatController:

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Collaboration diagram for jspace::FloatController:

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List of all members.

Public Member Functions
virtual Status	setGoal (Vector const &goal)
virtual Status	getGoal (Vector &goal) const
virtual Status	getActual (Vector &actual) const
virtual Status	setGains (Vector const &kp, Vector const &kd)
virtual Status	getGains (Vector &kp, Vector &kd) const
virtual Status	latch (Model const &model)
	This method is supposed to be called just before the first call to computeCommand(), in order to allow the controller to set the goal to the current state.
virtual Status	computeCommand (Model const &model, Vector &tau)

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Detailed Description

Definition at line 44 of file controller_library.hpp.

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Member Function Documentation

Status jspace::FloatController::setGoal

(

Vector const &

goal

)

[virtual]

Implements jspace::Controller.

Definition at line 35 of file controller_library.cpp.

Status jspace::FloatController::getGoal

(

Vector &

goal

)

const [virtual]

Implements jspace::Controller.

Definition at line 43 of file controller_library.cpp.

Status jspace::FloatController::getActual

(

Vector &

actual

)

const [virtual]

Implements jspace::Controller.

Definition at line 52 of file controller_library.cpp.

Status jspace::FloatController::setGains	(	Vector const &	kp,
		Vector const &	kd
	)			[virtual]

Implements jspace::Controller.

Definition at line 61 of file controller_library.cpp.

Status jspace::FloatController::getGains	(	Vector &	kp,
		Vector &	kd
	)			const [virtual]

Implements jspace::Controller.

Definition at line 69 of file controller_library.cpp.

Status jspace::FloatController::latch

(

Model const &

model

)

[virtual]

This method is supposed to be called just before the first call to computeCommand(), in order to allow the controller to set the goal to the current state.

This is important for applications where we switch controllers at runtime.

Implements jspace::Controller.

Definition at line 79 of file controller_library.cpp.

Status jspace::FloatController::computeCommand	(	Model const &	model,
		Vector &	tau
	)			[virtual]

Implements jspace::Controller.

Definition at line 87 of file controller_library.cpp.

References jspace::Model::getGravity().

Here is the call graph for this function:

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

• jspace/jspace/controller_library.hpp
• jspace/jspace/controller_library.cpp

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