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#include <PIDMC.h>
Inheritance diagram for PIDMC:
This can be a one shot deal if you set the autoprune flag as you're adding it (which is the default)
Definition at line 11 of file PIDMC.h.
Public Member Functions | |
PIDMC () | |
Constructor, uses default PIDs and 0 weight for all. | |
PIDMC (float powerlevel, float w=1) | |
Constructor, sets general power level of all. | |
PIDMC (unsigned int low, unsigned int high, float powerlevel, float w=1) | |
Constructor, sets general power level of a range of joints, uses default and 0 weight for others. | |
virtual | ~PIDMC () |
Destructor. | |
void | setDefaults (float weight=1) |
Sets the PIDs to the defaults specified in RobotInfo. | |
void | setJointPowerLevel (unsigned int i, float p, float w=1) |
Sets the PIDs to a percentage of default for a given joint, and sets weight. | |
void | setAllPowerLevel (float p, float w=1) |
Sets the PIDs to a percentage of default for all joints. | |
void | setRangePowerLevel (unsigned int low, unsigned int high, float p, float w=1) |
Sets a range of joints' PIDs to a given power level and weight. | |
void | setPID (unsigned int i, const OutputPID &pid) |
Use this to set the PID value and weight. | |
OutputPID & | getPID (unsigned int i) |
Use this if you want to double check the PID you set. | |
const OutputPID & | getPID (unsigned int i) const |
Use this if you want to double check the PID you set. | |
virtual int | updateOutputs () |
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager | |
virtual int | isDirty () |
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful | |
virtual int | isAlive () |
used to prune "dead" motions from the MotionManager | |
Static Protected Member Functions | |
bool | isPID (unsigned int i) |
returns true if the output i is a PID joint | |
Protected Attributes | |
bool | dirty |
true if there are changes that have not been picked up by Motion | |
OutputPID | PIDs [NumPIDJoints] |
the PIDs being requested |
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Constructor, uses default PIDs and 0 weight for all.
Definition at line 14 of file PIDMC.h. References dirty, and setDefaults(). |
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Constructor, sets general power level of all.
Definition at line 19 of file PIDMC.h. References dirty, and setAllPowerLevel(). |
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Constructor, sets general power level of a range of joints, uses default and 0 weight for others.
Definition at line 23 of file PIDMC.h. References dirty, ERS210Info::NumPIDJoints, ERS210Info::PIDJointOffset, and setRangePowerLevel(). |
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Destructor.
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Use this if you want to double check the PID you set.
Definition at line 92 of file PIDMC.h. References ERS210Info::PIDJointOffset, and PIDs. |
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Use this if you want to double check the PID you set.
Definition at line 87 of file PIDMC.h. References ERS210Info::PIDJointOffset, and PIDs. |
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used to prune "dead" motions from the MotionManager note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)
Implements MotionCommand. Definition at line 39 of file PIDMC.h. References dirty. |
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not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
Implements MotionCommand. Definition at line 38 of file PIDMC.h. References dirty. |
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returns true if the output i is a PID joint
Definition at line 98 of file PIDMC.h. References ERS210Info::NumPIDJoints, and ERS210Info::PIDJointOffset. |
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Sets the PIDs to a percentage of default for all joints.
Definition at line 57 of file PIDMC.h. References ERS210Info::DefaultPIDs, dirty, ERS210Info::NumPIDJoints, OutputPID::pid, PIDs, and OutputPID::weight. |
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Sets the PIDs to the defaults specified in RobotInfo.
Definition at line 43 of file PIDMC.h. References setAllPowerLevel(). |
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Sets the PIDs to a percentage of default for a given joint, and sets weight.
Definition at line 48 of file PIDMC.h. References ERS210Info::DefaultPIDs, dirty, OutputPID::pid, ERS210Info::PIDJointOffset, PIDs, and OutputPID::weight. |
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Use this to set the PID value and weight.
Definition at line 80 of file PIDMC.h. References dirty, ERS210Info::PIDJointOffset, and PIDs. |
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Sets a range of joints' PIDs to a given power level and weight.
Definition at line 67 of file PIDMC.h. References ERS210Info::DefaultPIDs, dirty, OutputPID::pid, ERS210Info::PIDJointOffset, PIDs, and OutputPID::weight. |
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is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
Implements MotionCommand. Definition at line 33 of file PIDMC.h. References dirty, motman, ERS210Info::NumPIDJoints, ERS210Info::PIDJointOffset, PIDs, and MotionManager::setOutput(). |
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true if there are changes that have not been picked up by Motion
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the PIDs being requested
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