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 98 of file control_select.h.
Constructor & Destructor Documentation
ROBOOP::Control_Select::Control_Select |
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ROBOOP::Control_Select::Control_Select |
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const string & |
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Constructor.
- Parameters:
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| filename,: | configuration file (path+name). |
Definition at line 54 of file control_select.cpp. |
Member Function Documentation
int ROBOOP::Control_Select::get_dof |
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void ROBOOP::Control_Select::set_control |
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const string & |
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Member Data Documentation
The documentation for this class was generated from the following files:
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