- 3.0.2 rigid body dynamics module.
Public Member Functions | Public Attributes | List of all members
ct::rbd::IDControllerFB< Dynamics > Class Template Reference

#include <IDControllerFB.h>

Public Member Functions

 IDControllerFB (std::shared_ptr< Dynamics > dynamics=std::shared_ptr< Dynamics >(new Dynamics()), const RBDState &desState=RBDState(), const Eigen::Matrix< double, 6, 1 > &Kp=Eigen::Matrix< double, 6, 1 >::Zero(), const Eigen::Matrix< double, 6, 1 > &Kd=Eigen::Matrix< double, 6, 1 >::Zero())
 
void setDesiredState (const RBDState &desState)
 
void setPoseGains (const Eigen::Matrix< double, 6, 1 > &Kp)
 
void setTwistGains (const Eigen::Matrix< double, 6, 1 > &Kd)
 
Dynamics::RBDAcceleration_t computeDesiredAcceleration (const RBDState &currBaseState)
 
Dynamics::control_vector_t computeTorque (const RBDState &currState, const typename Dynamics::EE_in_contact_t &eeInContact, bool gravityCompensation=true)
 

Public Attributes

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Dynamics::RBDState_t RBDState
 

Constructor & Destructor Documentation

◆ IDControllerFB()

template<class Dynamics >
ct::rbd::IDControllerFB< Dynamics >::IDControllerFB ( std::shared_ptr< Dynamics >  dynamics = std::shared_ptr<Dynamics>(new Dynamics()),
const RBDState &  desState = RBDState(),
const Eigen::Matrix< double, 6, 1 > &  Kp = Eigen::Matrix<double, 6, 1>::Zero(),
const Eigen::Matrix< double, 6, 1 > &  Kd = Eigen::Matrix<double, 6, 1>::Zero() 
)
inline

Member Function Documentation

◆ setDesiredState()

template<class Dynamics >
void ct::rbd::IDControllerFB< Dynamics >::setDesiredState ( const RBDState &  desState)
inline

◆ setPoseGains()

template<class Dynamics >
void ct::rbd::IDControllerFB< Dynamics >::setPoseGains ( const Eigen::Matrix< double, 6, 1 > &  Kp)
inline

◆ setTwistGains()

template<class Dynamics >
void ct::rbd::IDControllerFB< Dynamics >::setTwistGains ( const Eigen::Matrix< double, 6, 1 > &  Kd)
inline

◆ computeDesiredAcceleration()

template<class Dynamics >
Dynamics::RBDAcceleration_t ct::rbd::IDControllerFB< Dynamics >::computeDesiredAcceleration ( const RBDState &  currBaseState)
inline

References ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::base(), ct::rbd::RBDState< NJOINTS, SCALAR >::basePose(), ct::rbd::tpl::RigidBodyAcceleration< SCALAR >::fromVector6d(), ct::rbd::tpl::RigidBodyPose< SCALAR >::getRotationQuaternion(), ct::rbd::tpl::RigidBodyPose< SCALAR >::position(), ct::rbd::tpl::RigidBodyPose< SCALAR >::rotateInertiaToBase(), ct::rbd::RBDAcceleration< NJOINTS, SCALAR >::setZero(), and ct::rbd::tpl::RigidBodyState< SCALAR >::velocities().

Referenced by ct::rbd::IDControllerFB< Dynamics >::computeTorque().

◆ computeTorque()

template<class Dynamics >
Dynamics::control_vector_t ct::rbd::IDControllerFB< Dynamics >::computeTorque ( const RBDState &  currState,
const typename Dynamics::EE_in_contact_t &  eeInContact,
bool  gravityCompensation = true 
)
inline

References ct::rbd::IDControllerFB< Dynamics >::computeDesiredAcceleration().

Member Data Documentation

◆ RBDState

template<class Dynamics >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef Dynamics::RBDState_t ct::rbd::IDControllerFB< Dynamics >::RBDState
The documentation for this class was generated from the following file: