List of all members | Public Member Functions | Static Public Member Functions | Public Attributes
HolonomicPlatformControllerConfiguration Class Reference

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

Public Member Functions

 HolonomicPlatformControllerConfiguration ()
 

Static Public Member Functions

static HolonomicPlatformControllerConfigurationPtr CreateHolonomicPlatformControllerConfigData (hardware_config::Config &config)
 

Public Attributes

bool directionPreservingRamp {false}
 Ramp the two linear axes together instead of independently.
 
float maxAcceleration
 
float maxAngularAcceleration
 
float maxAngularDeceleration
 
float maxAngularVelocity
 
float maxDeceleration
 
float maxVelocity
 

Constructor & Destructor Documentation

◆ HolonomicPlatformControllerConfiguration()

HolonomicPlatformControllerConfiguration ( )
inline

Member Function Documentation

◆ CreateHolonomicPlatformControllerConfigData()

HolonomicPlatformControllerConfigurationPtr CreateHolonomicPlatformControllerConfigData ( hardware_config::Config & config)
static

Member Data Documentation

◆ directionPreservingRamp

bool directionPreservingRamp {false}

Ramp the two linear axes together instead of independently.

The default ramps vx and vy as separate scalars, so whenever the two targets differ in magnitude the smaller one saturates first and the direction of the commanded velocity rotates while the ramp runs – the platform drives somewhere it was never told to go. Enabling this bounds the norm of the velocity change instead, which preserves the direction and limits the acceleration the motors actually see.

Optional in the hardware config; absent means false, i.e. the historical behaviour.

◆ maxAcceleration

float maxAcceleration

◆ maxAngularAcceleration

float maxAngularAcceleration

◆ maxAngularDeceleration

float maxAngularDeceleration

◆ maxAngularVelocity

float maxAngularVelocity

◆ maxDeceleration

float maxDeceleration

◆ maxVelocity

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