ct::rbd::JointPositionPIDController< NJOINTS > Class Template Reference

A joint position controller using a PID controller for all joints. More...

#include <JointPositionPIDController.h>

Inheritance diagram for ct::rbd::JointPositionPIDController< NJOINTS >:

Public Types
typedef std::shared_ptr< JointPositionPIDController< NJOINTS > >	Ptr
typedef ct::core::PIDController< double >	PIDController

Public Member Functions
virtual JointPositionPIDController< NJOINTS > *	clone () const override
	JointPositionPIDController (const Eigen::Matrix< double, NJOINTS, 1 > &desiredPosition=Eigen::Matrix< double, NJOINTS, 1 >::Zero(), const Eigen::Matrix< double, NJOINTS, 1 > &desiredVelocity=Eigen::Matrix< double, NJOINTS, 1 >::Zero(), const std::vector< PIDController::parameters_t > &parameters=std::vector< PIDController::parameters_t >(NJOINTS, PIDController::parameters_t()))
	JointPositionPIDController (const Eigen::Matrix< double, NJOINTS, 1 > &desiredPosition, const Eigen::Matrix< double, NJOINTS, 1 > &desiredVelocity, const PIDController::parameters_t &parameters)
virtual	~JointPositionPIDController ()
void	computeControl (const core::StateVector< STATE_DIM > &state, const core::Time &t, core::ControlVector< NJOINTS > &control) override
void	setDesiredPosition (const Eigen::Matrix< double, NJOINTS, 1 > &desiredPosition)
void	setDesiredPosition (double desiredPosition, int jointId)
void	setAllPIDGains (double kp, double ki, double kd)
void	reset ()
Public Member Functions inherited from ct::core::Controller< 2 *NJOINTS, NJOINTS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Controller (const Controller &other)
virtual	~Controller ()
virtual void	computeControl (const StateVector< 2 *NJOINTS, SCALAR > &state, const SCALAR &t, ControlVector< NJOINTS, SCALAR > &controlAction)=0
virtual ControlMatrix< NJOINTS, SCALAR >	getDerivativeU0 (const StateVector< 2 *NJOINTS, SCALAR > &state, const SCALAR time)
virtual ControlMatrix< NJOINTS, SCALAR >	getDerivativeUf (const StateVector< 2 *NJOINTS, SCALAR > &state, const SCALAR time)

Static Public Attributes
static const size_t	STATE_DIM = 2 * NJOINTS
static const size_t	CONTROL_DIM = NJOINTS

Protected Attributes
std::vector< PIDController >	jointControllers_

Detailed Description

template<size_t NJOINTS>
class ct::rbd::JointPositionPIDController< NJOINTS >

A joint position controller using a PID controller for all joints.

Template Parameters

NJOINTS

number of joints of the robot

Member Typedef Documentation

Ptr

template<size_t NJOINTS>

typedef std::shared_ptr<JointPositionPIDController<NJOINTS> > ct::rbd::JointPositionPIDController< NJOINTS >::Ptr

PIDController

template<size_t NJOINTS>

typedef ct::core::PIDController<double> ct::rbd::JointPositionPIDController< NJOINTS >::PIDController

Constructor & Destructor Documentation

JointPositionPIDController() [1/2]

template<size_t NJOINTS>

ct::rbd::JointPositionPIDController< NJOINTS >::JointPositionPIDController	(	const Eigen::Matrix< double, NJOINTS, 1 > &	desiredPosition = Eigen::Matrix<double, NJOINTS, 1>::Zero(),
		const Eigen::Matrix< double, NJOINTS, 1 > &	desiredVelocity = Eigen::Matrix<double, NJOINTS, 1>::Zero(),
		const std::vector< PIDController::parameters_t > &	parameters = std::vector<PIDController::parameters_t>(NJOINTS,            PIDController::parameters_t())
	)

References i.

JointPositionPIDController() [2/2]

template<size_t NJOINTS>

ct::rbd::JointPositionPIDController< NJOINTS >::JointPositionPIDController	(	const Eigen::Matrix< double, NJOINTS, 1 > &	desiredPosition,
		const Eigen::Matrix< double, NJOINTS, 1 > &	desiredVelocity,
		const PIDController::parameters_t &	parameters
	)

References i.

~JointPositionPIDController()

template<size_t NJOINTS>

ct::rbd::JointPositionPIDController< NJOINTS >::~JointPositionPIDController ( )

virtual

Member Function Documentation

clone()

template<size_t NJOINTS>

JointPositionPIDController< NJOINTS > * ct::rbd::JointPositionPIDController< NJOINTS >::clone ( ) const

overridevirtual

Implements ct::core::Controller< 2 *NJOINTS, NJOINTS >.

computeControl()

template<size_t NJOINTS>

void ct::rbd::JointPositionPIDController< NJOINTS >::computeControl ( const core::StateVector< STATE_DIM > &  state, const core::Time &  t, core::ControlVector< NJOINTS > &  control  )

override

References ct::rbd::JointState< NJOINTS, SCALAR >::getPosition(), ct::rbd::JointState< NJOINTS, SCALAR >::getVelocity(), and i.

setDesiredPosition() [1/2]

template<size_t NJOINTS>

void ct::rbd::JointPositionPIDController< NJOINTS >::setDesiredPosition

(

const Eigen::Matrix< double, NJOINTS, 1 > &

desiredPosition

)

References i.

setDesiredPosition() [2/2]

template<size_t NJOINTS>

void ct::rbd::JointPositionPIDController< NJOINTS >::setDesiredPosition	(	double	desiredPosition,
		int	jointId
	)

setAllPIDGains()

template<size_t NJOINTS>

void ct::rbd::JointPositionPIDController< NJOINTS >::setAllPIDGains	(	double	kp,
		double	ki,
		double	kd
	)

References i.

reset()

template<size_t NJOINTS>

void ct::rbd::JointPositionPIDController< NJOINTS >::reset

(

)

References i.

Member Data Documentation

STATE_DIM

template<size_t NJOINTS>

const size_t ct::rbd::JointPositionPIDController< NJOINTS >::STATE_DIM = 2 * NJOINTS

static

CONTROL_DIM

template<size_t NJOINTS>

const size_t ct::rbd::JointPositionPIDController< NJOINTS >::CONTROL_DIM = NJOINTS

static

jointControllers_

template<size_t NJOINTS>

std::vector<PIDController> ct::rbd::JointPositionPIDController< NJOINTS >::jointControllers_

protected

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/control/JointPositionPIDController.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/robot/control/JointPositionPIDController-impl.h