orwell::Controller< dof > Class Template Reference

base class for controller implementation More...

#include <Controller.hpp>

Inheritance diagram for orwell::Controller< dof >:

Public Member Functions
	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

Protected Member Functions
virtual RobotState< dof >::Vector	computeCommand ()=0
	will be invoked when calling getControlCommand
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

Friends
template<int , template< int > class>
class	ParallelController

Detailed Description

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

base class for controller implementation

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 41 of file Controller.hpp.

Constructor & Destructor Documentation

Controller()

template<int dof>

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

loads configuration parameters

Parameters

interface	interfaces the configuration server
name	parameter namespace

Definition at line 30 of file Controller.hxx.

    {
        config_ = interface->getConfigurations()->load<Configuration>(name);
    }

Member Function Documentation

cast()

template<int dof>

template<class Derived >

Derived::Ptr orwell::Controller< dof >::cast

(

)

cast Controller to a derived class

expects the derived class to declare a typedef called Ptr

Template Parameters

Derived

derived class type

Returns

shared pointer to derived class

Definition at line 81 of file Controller.hxx.

    {
        return std::dynamic_pointer_cast<Derived>(this->shared_from_this());
    }

computeCommand()

template<int dof>

virtual RobotState< dof >::Vector orwell::Controller< dof >::computeCommand ( )

protectedpure virtual

will be invoked when calling getControlCommand

actual computation of the control command depending on the derived class

Returns

control command

Implemented in orwell::CompliantController< dof >, orwell::PositionController< dof >, and orwell::VelocityController< dof >.

Referenced by orwell::Controller< dof >::getControlCommand().

getControlCommand()

template<int dof>

RobotState< dof >::Vector orwell::Controller< dof >::getControlCommand

(

const RobotState< dof > &

robot_state

)

general function to obtain control commands

Parameters

robot_state

current RobotState

Returns

control command as torque, position or velocity

Definition at line 87 of file Controller.hxx.

    {
        robot_state_ = robot_state;
 
        this->getRobotModel()->computeCartesianState(robot_state);
 
        return limitCommand(computeCommand());
    }

References orwell::Controller< dof >::computeCommand(), and orwell::Controller< dof >::getRobotModel().

getRobotModel()

template<int dof>

RobotModel< dof >::Ptr orwell::Controller< dof >::getRobotModel ( )

protected

proved access to the RobotModel to derived classes

Returns

RobotModel

Definition at line 51 of file Controller.hxx.

    {
        return robot_model_;
    }

Referenced by orwell::Controller< dof >::getControlCommand().

getRobotState()

template<int dof>

const RobotState< dof > & orwell::Controller< dof >::getRobotState ( ) const

protected

proved access to the RobotState to derived classes

Returns

RobotState

Definition at line 97 of file Controller.hxx.

    {
        return robot_state_;
    }

isFinished()

template<int dof>

bool orwell::Controller< dof >::isFinished

(

const RobotState< dof > &

robot_state

)

const

check if the StoppingCriterion is fulfilled

Parameters

robot_state

current RobotState

Returns

true if the StoppingCriterion is fulfilled

Definition at line 69 of file Controller.hxx.

    {
        if (!stopping_criterion_)
        {
            return false;
        }
 
        return stopping_criterion_->isFinished(robot_state);
    }

setRobotModel()

template<int dof>

void orwell::Controller< dof >::setRobotModel

(

const typename RobotModel< dof >::Ptr &

robot_model

)

set the RobotModel

since the RobotModel is implemented as a base class, this function allows the usage of different kinematics/dynamics libraries

Parameters

robot_model

RobotModel the model of the robot to compute kinematics/dynamics

Definition at line 57 of file Controller.hxx.

    {
        robot_model_ = robot_model;
    }

Referenced by orwell::ControllerManager< dof >::ControllerManager().

setStoppingCriterion()

template<int dof>

void orwell::Controller< dof >::setStoppingCriterion

(

const std::shared_ptr< StoppingCriterion< dof > > &

stopping_criterion

)

(optional) StoppingCriterion

can be checked via the function isFinished

Parameters

stopping_criterion

StoppingCriterion

Definition at line 63 of file Controller.hxx.

    {
        stopping_criterion_ = stopping_criterion;
    }

Friends And Related Symbol Documentation

ParallelController

template<int dof>

template<int , template< int > class>

friend class ParallelController

friend

Definition at line 163 of file Controller.hpp.

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

• Controller.hpp
• Controller.hxx