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

#include <WholeBodyController.h>

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

Public Member Functions
	WholeBodyController ()
virtual	~WholeBodyController ()
virtual WholeBodyController< NJOINTS > *	clone () const override
virtual void	computeControl (const core::StateVector< STATE_DIM > &state, const core::Time &t, core::ControlVector< NJOINTS > &control) override
JointPositionPIDController< NJOINTS > &	getJointController ()
Public Member Functions inherited from ct::core::Controller< 2 *6+2 *NJOINTS, NJOINTS >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Controller ()
	Controller (const Controller &other)
virtual	~Controller ()
virtual void	computeControl (const StateVector< 2 *6+2 *NJOINTS, SCALAR > &state, const SCALAR &t, ControlVector< NJOINTS, SCALAR > &controlAction)=0
virtual ControlMatrix< NJOINTS, SCALAR >	getDerivativeU0 (const StateVector< 2 *6+2 *NJOINTS, SCALAR > &state, const SCALAR time)
virtual ControlMatrix< NJOINTS, SCALAR >	getDerivativeUf (const StateVector< 2 *6+2 *NJOINTS, SCALAR > &state, const SCALAR time)

Static Public Attributes
static const size_t	STATE_DIM = 2 * 6 + 2 * NJOINTS

Protected Attributes
JointPositionPIDController< NJOINTS >	jointController_

Constructor & Destructor Documentation

WholeBodyController()

template<size_t NJOINTS>

ct::rbd::WholeBodyController< NJOINTS >::WholeBodyController

(

)

~WholeBodyController()

template<size_t NJOINTS>

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

virtual

Member Function Documentation

clone()

template<size_t NJOINTS>

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

overridevirtual

Implements ct::core::Controller< 2 *6+2 *NJOINTS, NJOINTS >.

computeControl()

template<size_t NJOINTS>

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

overridevirtual

References ct::rbd::RBDState< NJOINTS, SCALAR >::fromStateVectorEulerXyz(), ct::rbd::RBDState< NJOINTS, SCALAR >::joints(), ct::rbd::JointState< NJOINTS, SCALAR >::toImplementation(), and x.

getJointController()

template<size_t NJOINTS>

JointPositionPIDController< NJOINTS > & ct::rbd::WholeBodyController< NJOINTS >::getJointController

(

)

Member Data Documentation

STATE_DIM

template<size_t NJOINTS>

const size_t ct::rbd::WholeBodyController< NJOINTS >::STATE_DIM = 2 * 6 + 2 * NJOINTS

static

jointController_

template<size_t NJOINTS>

JointPositionPIDController<NJOINTS> ct::rbd::WholeBodyController< NJOINTS >::jointController_

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