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ROBOOP::Proportional_Derivative Class Reference#include <controller.h>
Detailed DescriptionProportional derivative controller class.The driving torques can be expressed as
where Definition at line 246 of file controller.h.
Constructor & Destructor Documentation
Member Function Documentation
Output torque.
Definition at line 747 of file controller.cpp. Referenced by ROBOOP::Dynamics::xdot().
Assign the velocity error gain matrix
Definition at line 772 of file controller.cpp. Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().
Assign the position error gain matrix
Definition at line 789 of file controller.cpp. Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().
Member Data Documentation
Degree of freedom.
Definition at line 259 of file controller.h. Referenced by operator=(), Proportional_Derivative(), set_Kd(), set_Kp(), and torque_cmd(). Robot joints positions.
Definition at line 260 of file controller.h. Referenced by operator=(), Proportional_Derivative(), and torque_cmd(). Robot joints velocity.
Definition at line 260 of file controller.h. Referenced by operator=(), Proportional_Derivative(), and torque_cmd(). Output torque.
Definition at line 260 of file controller.h. Referenced by operator=(), Proportional_Derivative(), and torque_cmd().
Definition at line 260 of file controller.h. Referenced by operator=(), and Proportional_Derivative(). Position error gain.
Definition at line 265 of file controller.h. Referenced by operator=(), Proportional_Derivative(), set_Kp(), and torque_cmd(). Velocity error gain.
Definition at line 265 of file controller.h. Referenced by operator=(), Proportional_Derivative(), set_Kd(), and torque_cmd().
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 |