TorquePID Class Reference

#include <armarx/control/joint_controller/Torque.h>

Public Member Functions
void	AbsVel (double curr_angle_err, double dt)
void	findAcc (double Vel, double dt)
	TorquePID ()
void	update (double curr_error, double dt)
void	updatePhi (double curr_pos_error, double dt)
void	zeroize ()

Public Attributes
double	abs_vel = 0
double	acc = 0
int	actuatorType
double	angle_offset = 0
double	control = 0
double	CurrError = 0
double	derivative_gain = 0
double	dis = 0
double	if_angle = 0
double	ii = 0
double	inertia = 0
double	int_error = 0
double	integral_gain = 0
double	Kd = 0
double	max_value = 0
double	maxTorque = 0
double	min_value = 0
double	old_pos = 0
double	phi = 0
double	prev_angle = 0
double	prev_error = 0
double	prev_prev_error = 0
double	prev_vel = 0
double	proportional_gain = 0
double	scalePI = 0
double	scaleTorque = 0
double	SollMoment = 0
bool	status = false
double	windup_guard = 0

Detailed Description

Definition at line 46 of file Torque.h.

Constructor & Destructor Documentation

TorquePID()

TorquePID

(

)

Definition at line 38 of file Torque.cpp.

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Member Function Documentation

AbsVel()

void AbsVel	(	double	curr_angle_err,
		double	dt
	)

findAcc()

void findAcc	(	double	Vel,
		double	dt
	)

Definition at line 59 of file Torque.cpp.

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update()

void update	(	double	curr_error,
		double	dt
	)

Definition at line 67 of file Torque.cpp.

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updatePhi()

void updatePhi	(	double	curr_pos_error,
		double	dt
	)

zeroize()

void zeroize

(

)

Definition at line 45 of file Torque.cpp.

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Member Data Documentation

abs_vel

double abs_vel = 0

Definition at line 69 of file Torque.h.

acc

double acc = 0

Definition at line 77 of file Torque.h.

actuatorType

int actuatorType

Definition at line 83 of file Torque.h.

angle_offset

double angle_offset = 0

Definition at line 72 of file Torque.h.

control

double control = 0

Definition at line 63 of file Torque.h.

CurrError

double CurrError = 0

Definition at line 73 of file Torque.h.

derivative_gain

double derivative_gain = 0

Definition at line 59 of file Torque.h.

dis

double dis = 0

Definition at line 68 of file Torque.h.

if_angle

double if_angle = 0

Definition at line 71 of file Torque.h.

ii

double ii = 0

Definition at line 75 of file Torque.h.

inertia

double inertia = 0

Definition at line 79 of file Torque.h.

int_error

double int_error = 0

Definition at line 62 of file Torque.h.

integral_gain

double integral_gain = 0

Definition at line 58 of file Torque.h.

Kd

double Kd = 0

Definition at line 78 of file Torque.h.

max_value

double max_value = 0

Definition at line 64 of file Torque.h.

maxTorque

double maxTorque = 0

Definition at line 82 of file Torque.h.

min_value

double min_value = 0

Definition at line 65 of file Torque.h.

old_pos

double old_pos = 0

Definition at line 67 of file Torque.h.

phi

double phi = 0

Definition at line 66 of file Torque.h.

prev_angle

double prev_angle = 0

Definition at line 70 of file Torque.h.

prev_error

double prev_error = 0

Definition at line 60 of file Torque.h.

prev_prev_error

double prev_prev_error = 0

Definition at line 61 of file Torque.h.

prev_vel

double prev_vel = 0

Definition at line 76 of file Torque.h.

proportional_gain

double proportional_gain = 0

Definition at line 57 of file Torque.h.

scalePI

double scalePI = 0

Definition at line 80 of file Torque.h.

scaleTorque

double scaleTorque = 0

Definition at line 81 of file Torque.h.

SollMoment

double SollMoment = 0

Definition at line 74 of file Torque.h.

status

bool status = false

Definition at line 84 of file Torque.h.

windup_guard

double windup_guard = 0

Definition at line 56 of file Torque.h.

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

• armarx/control/joint_controller/Torque.h
• armarx/control/joint_controller/Torque.cpp