#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

Constructor & Destructor Documentation

◆ TorquePID()

TorquePID ( )

Member Function Documentation

◆ AbsVel()

void AbsVel	(	double	curr_angle_err,
		double	dt )

◆ findAcc()

void findAcc	(	double	Vel,
		double	dt )

◆ update()

void update	(	double	curr_error,
		double	dt )

◆ updatePhi()

void updatePhi	(	double	curr_pos_error,
		double	dt )

◆ zeroize()

void zeroize ( )

Member Data Documentation

◆ abs_vel

double abs_vel = 0

◆ acc

double acc = 0

◆ actuatorType

int actuatorType

◆ angle_offset

double angle_offset = 0

◆ control

double control = 0

◆ CurrError

double CurrError = 0

◆ derivative_gain

double derivative_gain = 0

◆ dis

double dis = 0

◆ if_angle

double if_angle = 0

◆ ii

double ii = 0

◆ inertia

double inertia = 0

◆ int_error

double int_error = 0

◆ integral_gain

double integral_gain = 0

◆ Kd

double Kd = 0

◆ max_value

double max_value = 0

◆ maxTorque

double maxTorque = 0

◆ min_value

double min_value = 0

◆ old_pos

double old_pos = 0

◆ phi

double phi = 0

◆ prev_angle

double prev_angle = 0

◆ prev_error

double prev_error = 0

◆ prev_prev_error

double prev_prev_error = 0

◆ prev_vel

double prev_vel = 0

◆ proportional_gain

double proportional_gain = 0

◆ scalePI

double scalePI = 0

◆ scaleTorque

double scaleTorque = 0

◆ SollMoment

double SollMoment = 0

◆ status

bool status = false

◆ windup_guard

double windup_guard = 0

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

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

Public Member Functions

Public Attributes