dynamicgraph::sot::ControlPD Class Reference

#include <sot/core/control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:

Public Member Functions
	ControlPD (const std::string &name)
void	init (const double &step)
virtual void	display (std::ostream &os) const
virtual const std::string &	getClassName (void) const

Public Attributes
SignalPtr< dg::Vector, int >	KpSIN
SignalPtr< dg::Vector, int >	KdSIN
SignalPtr< dg::Vector, int >	positionSIN
SignalPtr< dg::Vector, int >	desiredpositionSIN
SignalPtr< dg::Vector, int >	velocitySIN
SignalPtr< dg::Vector, int >	desiredvelocitySIN
SignalTimeDependent< dg::Vector, int >	controlSOUT
SignalTimeDependent< dg::Vector, int >	positionErrorSOUT
SignalTimeDependent< dg::Vector, int >	velocityErrorSOUT

Static Public Attributes
static const double	TIME_STEP_DEFAULT
static const std::string	CLASS_NAME

Protected Member Functions
dg::Vector &	computeControl (dg::Vector &tau, int t)
dg::Vector &	getPositionError (dg::Vector &position_error, int t)
dg::Vector &	getVelocityError (dg::Vector &velocity_error, int t)

Protected Attributes
double	TimeStep
dg::Vector	position_error_
dg::Vector	velocity_error_

Constructor & Destructor Documentation

ControlPD()

dynamicgraph::sot::ControlPD::ControlPD

(

const std::string &

name

)

Member Function Documentation

computeControl()

dg::Vector& dynamicgraph::sot::ControlPD::computeControl ( dg::Vector &  tau, int  t  )

protected

display()

virtual void dynamicgraph::sot::ControlPD::display ( std::ostream &  os ) const

virtual

getClassName()

virtual const std::string& dynamicgraph::sot::ControlPD::getClassName ( void  ) const

inlinevirtual

getPositionError()

dg::Vector& dynamicgraph::sot::ControlPD::getPositionError ( dg::Vector &  position_error, int  t  )

protected

getVelocityError()

dg::Vector& dynamicgraph::sot::ControlPD::getVelocityError ( dg::Vector &  velocity_error, int  t  )

protected

init()

void dynamicgraph::sot::ControlPD::init

(

const double &

step

)

Member Data Documentation

CLASS_NAME

const std::string dynamicgraph::sot::ControlPD::CLASS_NAME

static

controlSOUT

SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::ControlPD::controlSOUT

desiredpositionSIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::desiredpositionSIN

desiredvelocitySIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::desiredvelocitySIN

KdSIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::KdSIN

KpSIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::KpSIN

position_error_

dg::Vector dynamicgraph::sot::ControlPD::position_error_

protected

positionErrorSOUT

SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::ControlPD::positionErrorSOUT

positionSIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::positionSIN

TIME_STEP_DEFAULT

const double dynamicgraph::sot::ControlPD::TIME_STEP_DEFAULT

static

TimeStep

double dynamicgraph::sot::ControlPD::TimeStep

protected

velocity_error_

dg::Vector dynamicgraph::sot::ControlPD::velocity_error_

protected

velocityErrorSOUT

SignalTimeDependent<dg::Vector, int> dynamicgraph::sot::ControlPD::velocityErrorSOUT

velocitySIN

SignalPtr<dg::Vector, int> dynamicgraph::sot::ControlPD::velocitySIN