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ROBOOP::Proportional_Derivative Class Reference

#include <controller.h>

List of all members.


Detailed Description

Proportional derivative controller class.

The driving torques can be expressed as

\[ \tau = K_p(q_d-q) + K_d(\dot{q}_d-q) \]

where $K_p$, $K_d$ are diagonal positive definie matrix.

Definition at line 248 of file controller.h.

Public Member Functions

 Proportional_Derivative (const short dof=1)
 Constructor.
 Proportional_Derivative (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)
 Constructor.
 Proportional_Derivative (const Proportional_Derivative &x)
 Copy constructor.
Proportional_Derivativeoperator= (const Proportional_Derivative &x)
 Overload = operator.
ReturnMatrix torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
 Output torque.
short set_Kd (const DiagonalMatrix &Kd)
 Assign the velocity error gain matrix $K_p(i,i)$.
short set_Kp (const DiagonalMatrix &Kp)
 Assign the position error gain matrix $K_p(i,i)$.

Private Attributes

int dof
 Degree of freedom.
ColumnVector q
 Robot joints positions.
ColumnVector qp
 Robot joints velocity.
ColumnVector qpp
 Robot joints acceleration.
ColumnVector tau
 Output torque.
ColumnVector zero3
 $3\times 1$ zero vector.
DiagonalMatrix Kp
 Position error gain.
DiagonalMatrix Kd
 Velocity error gain.


Constructor & Destructor Documentation

ROBOOP::Proportional_Derivative::Proportional_Derivative const short  dof = 1  ) 
 

Constructor.

Definition at line 699 of file controller.cpp.

ROBOOP::Proportional_Derivative::Proportional_Derivative const Robot_basic robot,
const DiagonalMatrix Kp,
const DiagonalMatrix Kd
 

Constructor.

Definition at line 708 of file controller.cpp.

ROBOOP::Proportional_Derivative::Proportional_Derivative const Proportional_Derivative x  ) 
 

Copy constructor.

Definition at line 722 of file controller.cpp.


Member Function Documentation

Proportional_Derivative & ROBOOP::Proportional_Derivative::operator= const Proportional_Derivative x  ) 
 

Overload = operator.

Definition at line 734 of file controller.cpp.

short ROBOOP::Proportional_Derivative::set_Kd const DiagonalMatrix Kd_  ) 
 

Assign the velocity error gain matrix $K_p(i,i)$.

Returns:
short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$.

Definition at line 773 of file controller.cpp.

Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().

short ROBOOP::Proportional_Derivative::set_Kp const DiagonalMatrix Kp_  ) 
 

Assign the position error gain matrix $K_p(i,i)$.

Returns:
short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$.

Definition at line 790 of file controller.cpp.

Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().

ReturnMatrix ROBOOP::Proportional_Derivative::torque_cmd Robot_basic robot,
const ColumnVector qd,
const ColumnVector qpd
 

Output torque.

Definition at line 748 of file controller.cpp.

Referenced by ROBOOP::Dynamics::xdot().


Member Data Documentation

int ROBOOP::Proportional_Derivative::dof [private]
 

Degree of freedom.

Definition at line 261 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kd(), and set_Kp().

DiagonalMatrix ROBOOP::Proportional_Derivative::Kd [private]
 

Velocity error gain.

Definition at line 268 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kd(), and torque_cmd().

DiagonalMatrix ROBOOP::Proportional_Derivative::Kp [private]
 

Position error gain.

Definition at line 268 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kp(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::q [private]
 

Robot joints positions.

Definition at line 263 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::qp [private]
 

Robot joints velocity.

Definition at line 263 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::qpp [private]
 

Robot joints acceleration.

Definition at line 263 of file controller.h.

ColumnVector ROBOOP::Proportional_Derivative::tau [private]
 

Output torque.

Definition at line 263 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::zero3 [private]
 

$3\times 1$ zero vector.

Definition at line 263 of file controller.h.

Referenced by operator=(), and Proportional_Derivative().


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

ROBOOP v1.21a
Generated Tue Nov 23 16:35:55 2004 by Doxygen 1.3.9.1