position-controller.cpp File Reference

#include <dynamic-graph/factory.h>
#include <sot/core/debug.hh>
#include <sot/core/stop-watch.hh>
#include <sot/torque_control/commands-helper.hh>
#include <sot/torque_control/position-controller.hh>

Include dependency graph for position-controller.cpp:

Go to the source code of this file.

Namespaces
	dynamicgraph
	to read text file
	dynamicgraph::sot
	dynamicgraph::sot::torque_control

Macros
#define	GAIN_SIGNALS   m_KpSIN << m_KdSIN << m_KiSIN
#define	INPUT_SIGNALS   STATE_SIGNALS << REF_JOINT_SIGNALS << GAIN_SIGNALS
#define	OUTPUT_SIGNALS   m_pwmDesSOUT << m_qErrorSOUT
#define	PROFILE_PWM_DES_COMPUTATION   "PositionController: desired pwm computation "
#define	REF_JOINT_SIGNALS   m_qRefSIN << m_dqRefSIN
#define	STATE_SIGNALS   m_base6d_encodersSIN << m_jointsVelocitiesSIN

Functions
	DEFINE_SIGNAL_OUT_FUNCTION (pwmDes, dynamicgraph::Vector)
	DEFINE_SIGNAL_OUT_FUNCTION (qError, dynamicgraph::Vector)
	DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN (PositionController, "PositionController")

Macro Definition Documentation

GAIN_SIGNALS

#define GAIN_SIGNALS   m_KpSIN << m_KdSIN << m_KiSIN

Definition at line 24 of file position-controller.cpp.

INPUT_SIGNALS

#define INPUT_SIGNALS   STATE_SIGNALS << REF_JOINT_SIGNALS << GAIN_SIGNALS

Definition at line 28 of file position-controller.cpp.

OUTPUT_SIGNALS

#define OUTPUT_SIGNALS   m_pwmDesSOUT << m_qErrorSOUT

Definition at line 30 of file position-controller.cpp.

PROFILE_PWM_DES_COMPUTATION

#define PROFILE_PWM_DES_COMPUTATION   "PositionController: desired pwm computation "

Definition at line 21 of file position-controller.cpp.

REF_JOINT_SIGNALS

#define REF_JOINT_SIGNALS   m_qRefSIN << m_dqRefSIN

Definition at line 25 of file position-controller.cpp.

STATE_SIGNALS

#define STATE_SIGNALS   m_base6d_encodersSIN << m_jointsVelocitiesSIN

Definition at line 26 of file position-controller.cpp.