Controller using torque commands. More...

Inheritance diagram for orwell::TorqueController< dof >:

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

Public Member Functions
	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
Protected Member Functions inherited from orwell::Controller< dof >
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

Detailed Description

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

Controller using torque commands.

Template Parameters

dof	number of degrees of freedom of the controlled system

Definition at line 40 of file TorqueController.hpp.

Member Typedef Documentation

template<int dof>

typedef

Definition at line 61 of file TorqueController.hpp.

template<int dof>

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

30 : Controller<dof>(interface, name)

31 {}

Controller(const sackmesser::Interface::Ptr &interface, const std::string &name)

loads configuration parameters

Definition Controller.hxx:30

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