orwell::ParallelController< dof, DerivedController > Class Template Reference

invokes several controllers in parallel and combines their control command More...

#include <ParallelController.hpp>

Inheritance diagram for orwell::ParallelController< dof, DerivedController >:

Public Member Functions
	ParallelController (const sackmesser::Interface::Ptr &interface, const std::string &name)
Eigen::Vector< double, dof >	computeCommand ()
	computation of the control command depending

Detailed Description

template<int dof, template< int > class DerivedController>
class orwell::ParallelController< dof, DerivedController >

invokes several controllers in parallel and combines their control command

Template Parameters

dof	number of degrees of freedom of the controlled system
DerivedController	type of the controller, i.e. TorqueController, PositionController or VelocityController

Definition at line 44 of file ParallelController.hpp.

Constructor & Destructor Documentation

ParallelController()

template<int dof, template< int > class DerivedController>

orwell::ParallelController< dof, DerivedController >::ParallelController	(	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 ParallelController.hxx.

      : TorqueController<dof>(interface, name), TorqueController<dof>::SharedGroup(interface, name + "/controller")
    {
        this->forEach([this](typename TorqueController<dof>::Ptr controller) { controllers_.push_back(controller); });
    }

Member Function Documentation

computeCommand()

template<int dof, template< int > class DerivedController>

Eigen::Vector< double, dof > orwell::ParallelController< dof, DerivedController >::computeCommand

(

)

computation of the control command depending

invokes computeCommand for all contained controllers

Returns

control command

Definition at line 38 of file ParallelController.hxx.

    {
        Eigen::Vector<double, dof> torque = Eigen::Vector<double, dof>::Zero();
 
        for (const auto &controller : controllers_)
        {
            torque += controller->computeCommand();
        }
 
        return torque;
    }

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

• ParallelController.hpp
• ParallelController.hxx