orwell::PositionController< dof > Class Template Reference

Controller using position commands. More...

#include <PositionController.hpp>

Inheritance diagram for orwell::PositionController< dof >:

Public Types
using	Ptr = std::shared_ptr<PositionController>
	typedef

Public Member Functions
	PositionController (const sackmesser::Interface::Ptr &interface, const std::string &name)
	loads configuration parameters
virtual RobotState< dof >::Vector	computeCommand ()=0
	will be invoked when calling ControllergetControlCommand
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
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::PositionController< dof >

Controller using position commands.

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 38 of file PositionController.hpp.

Member Typedef Documentation

Ptr

template<int dof>

using orwell::PositionController< dof >::Ptr = std::shared_ptr<PositionController>

typedef

Definition at line 65 of file PositionController.hpp.

Constructor & Destructor Documentation

PositionController()

template<int dof>

orwell::PositionController< dof >::PositionController	(	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 PositionController.hxx.

      : Controller<dof>(interface, name)
    {}

Member Function Documentation

computeCommand()

template<int dof>

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

pure virtual

will be invoked when calling ControllergetControlCommand

actual computation of the control command depending on the derived class

Returns

control command

Implements orwell::Controller< dof >.

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

• PositionController.hpp
• PositionController.hxx