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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 98 of file control_select.h.


Public Member Functions

 Control_Select ()
 Constructor.
 Control_Select (const std::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 std::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.
std::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 std::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

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

Overload = operator.

Definition at line 77 of file control_select.cpp.

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().

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

Select the proper controller from filename.

Definition at line 97 of file control_select.cpp.

Referenced by Control_Select().


Member Data Documentation

JOINT_SPACE or CARTESIAN_SPACE.

Definition at line 112 of file control_select.h.

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

Controller name.

Definition at line 114 of file control_select.h.

Referenced by set_control().

Degree of freedom.

Definition at line 116 of file control_select.h.

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


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

ROBOOP v1.21a
Generated Thu Nov 22 00:51:35 2007 by Doxygen 1.5.4