#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)

Detailed Description

Definition at line 74 of file VelocityManipulatingTorque.h.

Constructor & Destructor Documentation

◆ VelocityManipulatingTorqueController()

VelocityManipulatingTorqueController ( const VelocityManipulatingTorqueControllerConfigurationPtr & torqueConfigData )

Definition at line 35 of file VelocityManipulatingTorque.cpp.

Member Function Documentation

◆ calcJointLimitProtectionTorque()

double calcJointLimitProtectionTorque ( float actualPosition )

protected

Definition at line 92 of file VelocityManipulatingTorque.cpp.

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◆ getCurrentTargetVelocity()

double getCurrentTargetVelocity ( ) const

Definition at line 247 of file VelocityManipulatingTorque.cpp.

◆ getLastAcceleration()

double getLastAcceleration ( ) const

Definition at line 123 of file VelocityManipulatingTorque.cpp.

◆ getLastJerk()

double getLastJerk ( ) const

Definition at line 117 of file VelocityManipulatingTorque.cpp.

◆ getPid()

const PIDController & getPid ( )

Definition at line 280 of file VelocityManipulatingTorque.cpp.

◆ getTorqueConfigData()

VelocityManipulatingTorqueControllerConfiguration getTorqueConfigData ( ) const

Definition at line 253 of file VelocityManipulatingTorque.cpp.

◆ reset()

void reset ( )

Definition at line 238 of file VelocityManipulatingTorque.cpp.

◆ setTorqueConfigData()

bool setTorqueConfigData ( VelocityManipulatingTorqueControllerConfiguration configData )

Definition at line 259 of file VelocityManipulatingTorque.cpp.

◆ update()

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

Definition at line 129 of file VelocityManipulatingTorque.cpp.