TorqueController Class Reference

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

Public Member Functions
double	calcJointLimitProtectionTorque (float actualPosition)
const armarx::control::rt_filters::FirFilter &	getFilter () const
	TorqueController (const TorqueControllerConfigurationPtr &torqueConfigData)
float	update (const IceUtil::Time &timeSinceLastIteration, const std::string &jointName, float gravity, float actualTorque, float targetTorque, float actualVelocity, float actualPosition)

Constructor & Destructor Documentation

TorqueController()

TorqueController

(

const TorqueControllerConfigurationPtr &

torqueConfigData

)

Member Function Documentation

calcJointLimitProtectionTorque()

double calcJointLimitProtectionTorque

(

float

actualPosition

)

getFilter()

const armarx::control::rt_filters::FirFilter & getFilter

(

)

const

update()

float update	(	const IceUtil::Time &	timeSinceLastIteration,
		const std::string &	jointName,
		float	gravity,
		float	actualTorque,
		float	targetTorque,
		float	actualVelocity,
		float	actualPosition )

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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