#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 |
Detailed Description
Definition at line 55 of file ControllerConfiguration.h.
Constructor & Destructor Documentation
◆ HolonomicPlatformControllerConfiguration()
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inline |
Definition at line 58 of file ControllerConfiguration.h.
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◆ CreateHolonomicPlatformControllerConfigData()
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static |
Definition at line 39 of file ControllerConfiguration.cpp.
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◆ 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.
Definition at line 82 of file ControllerConfiguration.h.
◆ maxAcceleration
| float maxAcceleration |
Definition at line 65 of file ControllerConfiguration.h.
◆ maxAngularAcceleration
| float maxAngularAcceleration |
Definition at line 68 of file ControllerConfiguration.h.
◆ maxAngularDeceleration
| float maxAngularDeceleration |
Definition at line 69 of file ControllerConfiguration.h.
◆ maxAngularVelocity
| float maxAngularVelocity |
Definition at line 67 of file ControllerConfiguration.h.
◆ maxDeceleration
| float maxDeceleration |
Definition at line 66 of file ControllerConfiguration.h.
◆ maxVelocity
| float maxVelocity |
Definition at line 64 of file ControllerConfiguration.h.
The documentation for this class was generated from the following files:
- armarx/control/joint_controller/ControllerConfiguration.h
- armarx/control/joint_controller/ControllerConfiguration.cpp
