orwell::ReferenceController< Reference, DerivedController > Class Template Reference

base implementation of a Controller tracking a given Reference More...

#include <ReferenceController.hpp>

Inheritance diagram for orwell::ReferenceController< Reference, DerivedController >:

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

Public Member Functions
	ReferenceController (const sackmesser::Interface::Ptr &interface, const std::string &name)
void	setReference (const Reference &reference)
	set Reference
const Reference &	getReference () const
	provide access to the Reference to derived classes

Detailed Description

template<class Reference, class DerivedController>
class orwell::ReferenceController< Reference, DerivedController >

base implementation of a Controller tracking a given Reference

Template Parameters

Reference	target to be tracked
DerivedController	either TorqueController, PositionController or VelocityController

Definition at line 35 of file ReferenceController.hpp.

Member Typedef Documentation

Ptr

template<class Reference , class DerivedController >

using orwell::ReferenceController< Reference, DerivedController >::Ptr = std::shared_ptr<ReferenceController>

typedef

Definition at line 74 of file ReferenceController.hpp.

Constructor & Destructor Documentation

ReferenceController()

template<class Reference , class DerivedController >

orwell::ReferenceController< Reference, DerivedController >::ReferenceController	(	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 ReferenceController.hxx.

      : DerivedController(interface, name)
    {}

Member Function Documentation

getReference()

template<class Reference , class DerivedController >

const Reference & orwell::ReferenceController< Reference, DerivedController >::getReference

(

)

const

provide access to the Reference to derived classes

Returns

Reference

Definition at line 42 of file ReferenceController.hxx.

    {
        return reference_;
    }

Referenced by orwell::JointImpedanceController< dof >::computeCommand().

setReference()

template<class Reference , class DerivedController >

void orwell::ReferenceController< Reference, DerivedController >::setReference

(

const Reference &

reference

)

set Reference

Parameters

reference

target to be tracked

Definition at line 36 of file ReferenceController.hxx.

    {
        reference_ = reference;
    }

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

• ReferenceController.hpp
• ReferenceController.hxx