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ROBOOP::Control_Select Class Reference

#include <control_select.h>

List of all members.


Detailed Description

Select controller class.

This class contains an instance of each controller class. The active controller will be selected when reading a controller file. "type" value correspond to the active controller, ex:

  • type = NONE : no controller selected
  • type = PD : Proportional Derivative
  • type = CTM : Computer Torque Method
  • type = RRA : Resolved Rate Acceleration
  • type = IMP : Impedance
Bellow is an exemple of RRA configuration file (more info on configuration file in config.h/cpp):

  [CONTROLLER]

  type:   RESOLVED_RATE_ACCELERATION
  dof:    6

  [GAINS]

  Kvp:         500.0
  Kpp:        5000.0
  Kvo:         500.0
  Kpo:        5000.0

Definition at line 99 of file control_select.h.

Public Member Functions

 Control_Select ()
 Constructor.
 Control_Select (const string &filename)
 Constructor.
 Control_Select (const Control_Select &x)
 Copy constructor.
Control_Selectoperator= (const Control_Select &x)
 Overload = operator.
int get_dof ()
 Return the degree of freedom.
void set_control (const string &filename)
 Select the proper controller from filename.

Public Attributes

Proportional_Derivative pd
Computed_torque_method ctm
Resolved_acc rra
Impedance impedance
short type
 Type of controller: PD, CTM,...
short space_type
 JOINT_SPACE or CARTESIAN_SPACE.
string ControllerName
 Controller name.

Private Attributes

int dof
 Degree of freedom.


Constructor & Destructor Documentation

ROBOOP::Control_Select::Control_Select  ) 
 

Constructor.

Definition at line 48 of file control_select.cpp.

ROBOOP::Control_Select::Control_Select const string &  filename  ) 
 

Constructor.

Parameters:
filename: configuration file (path+name).

Definition at line 56 of file control_select.cpp.

ROBOOP::Control_Select::Control_Select const Control_Select x  ) 
 

Copy constructor.

Definition at line 65 of file control_select.cpp.


Member Function Documentation

int ROBOOP::Control_Select::get_dof  ) 
 

Return the degree of freedom.

Definition at line 91 of file control_select.cpp.

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

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

Overload = operator.

Definition at line 77 of file control_select.cpp.

void ROBOOP::Control_Select::set_control const string &  filename  ) 
 

Select the proper controller from filename.

Definition at line 97 of file control_select.cpp.

Referenced by Control_Select().


Member Data Documentation

string ROBOOP::Control_Select::ControllerName
 

Controller name.

Definition at line 115 of file control_select.h.

Referenced by set_control().

Computed_torque_method ROBOOP::Control_Select::ctm
 

Definition at line 109 of file control_select.h.

Referenced by Control_Select(), operator=(), set_control(), and ROBOOP::Dynamics::xdot().

int ROBOOP::Control_Select::dof [private]
 

Degree of freedom.

Definition at line 117 of file control_select.h.

Referenced by Control_Select(), operator=(), and set_control().

Impedance ROBOOP::Control_Select::impedance
 

Definition at line 111 of file control_select.h.

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

Proportional_Derivative ROBOOP::Control_Select::pd
 

Definition at line 108 of file control_select.h.

Referenced by Control_Select(), operator=(), set_control(), and ROBOOP::Dynamics::xdot().

Resolved_acc ROBOOP::Control_Select::rra
 

Definition at line 110 of file control_select.h.

Referenced by Control_Select(), operator=(), set_control(), and ROBOOP::Dynamics::xdot().

short ROBOOP::Control_Select::space_type
 

JOINT_SPACE or CARTESIAN_SPACE.

Definition at line 114 of file control_select.h.

Referenced by Control_Select(), operator=(), set_control(), and ROBOOP::Dynamics::set_trajectory().

short ROBOOP::Control_Select::type
 

Type of controller: PD, CTM,...

Definition at line 114 of file control_select.h.

Referenced by Control_Select(), operator=(), set_control(), ROBOOP::Dynamics::set_controller(), ROBOOP::Dynamics::set_trajectory(), and ROBOOP::Dynamics::xdot().


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

ROBOOP v1.21a
Generated Tue Oct 19 14:18:29 2004 by Doxygen 1.3.9.1