jspace::JointGoalController Class Reference

#include <controller_library.hpp>

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List of all members.

Public Member Functions
	JointGoalController (int compensation_flags, Vector const &default_kp, Vector const &default_kd)
virtual Status	getActual (Vector &actual) 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)
Protected Attributes
Vector	actual_

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Detailed Description

Definition at line 86 of file controller_library.hpp.

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Constructor & Destructor Documentation

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

Definition at line 195 of file controller_library.cpp.

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Member Function Documentation

Status jspace::JointGoalController::getActual

(

Vector &

actual

)

const [virtual]

Implements jspace::Controller.

Definition at line 204 of file controller_library.cpp.

References actual_.

Status jspace::JointGoalController::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 213 of file controller_library.cpp.

References jspace::Model::getState(), jspace::GoalControllerBase::goal_, and jspace::State::position_.

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

Implements jspace::Controller.

Definition at line 222 of file controller_library.cpp.

References actual_, jspace::COMP_CORIOLIS, jspace::COMP_GRAVITY, jspace::COMP_MASS_INERTIA, jspace::GoalControllerBase::compensation_flags_, jspace::Model::getCoriolisCentrifugal(), jspace::Model::getGravity(), jspace::Model::getMassInertia(), jspace::Model::getNDOF(), jspace::Model::getState(), jspace::GoalControllerBase::goal_, jspace::GoalControllerBase::kd_, jspace::GoalControllerBase::kp_, ndof, jspace::State::position_, state, and jspace::State::velocity_.

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Member Data Documentation

Vector jspace::JointGoalController::actual_ [protected]

Definition at line 99 of file controller_library.hpp.

Referenced by computeCommand(), and getActual().

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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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