jspace::GoalControllerBase Class Reference

#include <controller_library.hpp>

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List of all members.

Public Member Functions
	GoalControllerBase (int compensation_flags, Vector const &default_kp, Vector const &default_kd)
virtual Status	init (Model const &model)
	Default init just returns ok.
virtual Status	setGoal (Vector const &goal)
virtual Status	getGoal (Vector &goal) const
virtual Status	setGains (Vector const &kp, Vector const &kd)
virtual Status	getGains (Vector &kp, Vector &kd) const
Protected Attributes
int	compensation_flags_
Vector	default_kp_
Vector	default_kd_
Vector	goal_
Vector	kp_
Vector	kd_

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Detailed Description

Definition at line 60 of file controller_library.hpp.

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Constructor & Destructor Documentation

jspace::GoalControllerBase::GoalControllerBase	(	int	compensation_flags,
		Vector const &	default_kp,
		Vector const &	default_kd
	)

Definition at line 99 of file controller_library.cpp.

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Member Function Documentation

Status jspace::GoalControllerBase::init

(

Model const &

model

)

[virtual]

Default init just returns ok.

You should only call this with a fully initialized model, because controllers might need to inspect the state.

Reimplemented from jspace::Controller.

Definition at line 110 of file controller_library.cpp.

References default_kd_, default_kp_, jspace::Status::errstr, jspace::Model::getNDOF(), jspace::Model::getState(), goal_, kd_, kp_, ndof, jspace::Status::ok, jspace::State::position_, and sfl::to_string().

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Status jspace::GoalControllerBase::setGoal

(

Vector const &

goal

)

[virtual]

Implements jspace::Controller.

Definition at line 145 of file controller_library.cpp.

References jspace::Status::errstr, goal_, jspace::Status::ok, and sfl::to_string().

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Status jspace::GoalControllerBase::getGoal

(

Vector &

goal

)

const [virtual]

Implements jspace::Controller.

Definition at line 161 of file controller_library.cpp.

References goal_.

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

Implements jspace::Controller.

Definition at line 170 of file controller_library.cpp.

References jspace::Status::errstr, kd_, kp_, and jspace::Status::ok.

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

Implements jspace::Controller.

Definition at line 185 of file controller_library.cpp.

References kd_, and kp_.

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Member Data Documentation

int jspace::GoalControllerBase::compensation_flags_ [protected]

Definition at line 77 of file controller_library.hpp.

Referenced by jspace::JointGoalController::computeCommand().

Vector jspace::GoalControllerBase::default_kp_ [protected]

Definition at line 78 of file controller_library.hpp.

Referenced by init().

Vector jspace::GoalControllerBase::default_kd_ [protected]

Definition at line 79 of file controller_library.hpp.

Referenced by init().

Vector jspace::GoalControllerBase::goal_ [protected]

Definition at line 80 of file controller_library.hpp.

Referenced by jspace::JointGoalController::computeCommand(), getGoal(), init(), jspace::JointGoalController::latch(), and setGoal().

Vector jspace::GoalControllerBase::kp_ [protected]

Definition at line 81 of file controller_library.hpp.

Referenced by jspace::JointGoalController::computeCommand(), getGains(), init(), and setGains().

Vector jspace::GoalControllerBase::kd_ [protected]

Definition at line 82 of file controller_library.hpp.

Referenced by jspace::JointGoalController::computeCommand(), getGains(), init(), and setGains().

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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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