VelocityManipulatingTorqueController Class Reference

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

Public Member Functions
double	getCurrentTargetVelocity () const
double	getLastAcceleration () const
double	getLastJerk () const
const PIDController &	getPid ()
VelocityManipulatingTorqueControllerConfiguration	getTorqueConfigData () const
void	reset ()
bool	setTorqueConfigData (VelocityManipulatingTorqueControllerConfiguration configData)
float	update (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration, float gravity, float actualTorque, float targetTorque, float actualVelocity, float actualPosition)
	VelocityManipulatingTorqueController (const VelocityManipulatingTorqueControllerConfigurationPtr &torqueConfigData)

Protected Member Functions
double	calcJointLimitProtectionTorque (float actualPosition)

Constructor & Destructor Documentation

VelocityManipulatingTorqueController()

VelocityManipulatingTorqueController

(

const VelocityManipulatingTorqueControllerConfigurationPtr &

torqueConfigData

)

Member Function Documentation

calcJointLimitProtectionTorque()

double calcJointLimitProtectionTorque ( float actualPosition )

protected

getCurrentTargetVelocity()

double getCurrentTargetVelocity

(

)

const

getLastAcceleration()

double getLastAcceleration

(

)

const

getLastJerk()

double getLastJerk

(

)

const

getPid()

const PIDController & getPid

(

)

getTorqueConfigData()

VelocityManipulatingTorqueControllerConfiguration getTorqueConfigData

(

)

const

reset()

void reset

(

)

setTorqueConfigData()

bool setTorqueConfigData

(

VelocityManipulatingTorqueControllerConfiguration

configData

)

update()

float update	(	const IceUtil::Time &	sensorValuesTimestamp,
		const IceUtil::Time &	timeSinceLastIteration,
		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/VelocityManipulatingTorque.h
• armarx/control/joint_controller/VelocityManipulatingTorque.cpp