fully compliant controller for kinesthetic control More...

Inheritance diagram for orwell::CompliantController< dof >:

Public Member Functions
	CompliantController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters

Eigen::Vector< double, dof >	computeCommand ()
	computes the control command, essentially only considers gravity compensation

Public Member Functions inherited from orwell::TorqueController< dof >
	TorqueController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters

Public Member Functions inherited from orwell::Controller< dof >
	Controller (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters

RobotState< dof >::Vector	getControlCommand (const RobotState< dof > &robot_state)
	general function to obtain control commands

void	setRobotModel (const typename RobotModel< dof >::Ptr &robot_model)
	set the RobotModel

void	setStoppingCriterion (const std::shared_ptr< StoppingCriterion< dof > > &stopping_criterion)
	(optional) StoppingCriterion

bool	isFinished (const RobotState< dof > &robot_state) const
	check if the StoppingCriterion is fulfilled

template<class Derived >
Derived::Ptr	cast ()
	cast Controller to a derived class

Additional Inherited Members
Public Types inherited from orwell::TorqueController< dof >
using	Ptr = std::shared_ptr<TorqueController>
	typedef

Protected Member Functions inherited from orwell::Controller< dof >
RobotModel< dof >::Ptr	getRobotModel ()
	proved access to the RobotModel to derived classes

const RobotState< dof > &	getRobotState () const
	proved access to the RobotState to derived classes

Detailed Description

template<int dof>
class orwell::CompliantController< dof >

fully compliant controller for kinesthetic control

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 34 of file CompliantController.hpp.

Constructor & Destructor Documentation

template<int dof>

orwell::CompliantController< dof >::CompliantController	(	const sackmesser::Interface::Ptr &	interface,
		const std::string &	name )

loads configuration parameters

Parameters

interface	interfaces the configuration server
name	parameter namespace

Definition at line 28 of file CompliantController.hxx.

29 : TorqueController<dof>(interface, "controller_manager/torque_controller/compliant_controller/")

30 {}

template<int dof>

Eigen::Vector< double, dof > orwell::CompliantController< dof >::computeCommand ( )

virtual

computes the control command, essentially only considers gravity compensation

Definition at line 36 of file CompliantController.hxx.

    {
        return Eigen::Vector<double, dof>::Zero();
    }

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