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

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

Public Member Functions

 TorqueControllerConfiguration ()
 

Static Public Member Functions

static TorqueControllerConfigurationPtr CreateTorqueConfigData (hardware_config::Config &config, bool limitless, float jointLimitLow, float jointLimitHigh)
 

Public Attributes

int actuatorType
 
std::vector< float > firFilterImpulseResponse
 
double inertia
 
double jointLimitHigh = 0.0
 
double jointLimitLow = 0.0
 
double Kd
 
bool limitless = true
 
double maxTorque
 
double pid_derivative_gain
 
double pid_dis
 
double pid_integral_gain
 
double pid_max_value
 
double pid_min_value
 
double pid_proportional_gain
 
double pid_windup_guard
 
double scalePI
 
double scaleTorque
 

Detailed Description

Definition at line 15 of file Torque.h.

Constructor & Destructor Documentation

◆ TorqueControllerConfiguration()

TorqueControllerConfiguration ( )

Definition at line 121 of file Torque.cpp.

Member Function Documentation

◆ CreateTorqueConfigData()

TorqueControllerConfigurationPtr CreateTorqueConfigData ( hardware_config::Config &  config,
bool  limitless,
float  jointLimitLow,
float  jointLimitHigh 
)
static

Definition at line 88 of file Torque.cpp.

+ Here is the call graph for this function:

Member Data Documentation

◆ actuatorType

int actuatorType

Definition at line 37 of file Torque.h.

◆ firFilterImpulseResponse

std::vector<float> firFilterImpulseResponse

Definition at line 40 of file Torque.h.

◆ inertia

double inertia

Definition at line 32 of file Torque.h.

◆ jointLimitHigh

double jointLimitHigh = 0.0

Definition at line 39 of file Torque.h.

◆ jointLimitLow

double jointLimitLow = 0.0

Definition at line 39 of file Torque.h.

◆ Kd

double Kd

Definition at line 31 of file Torque.h.

◆ limitless

bool limitless = true

Definition at line 38 of file Torque.h.

◆ maxTorque

double maxTorque

Definition at line 35 of file Torque.h.

◆ pid_derivative_gain

double pid_derivative_gain

Definition at line 26 of file Torque.h.

◆ pid_dis

double pid_dis

Definition at line 30 of file Torque.h.

◆ pid_integral_gain

double pid_integral_gain

Definition at line 25 of file Torque.h.

◆ pid_max_value

double pid_max_value

Definition at line 28 of file Torque.h.

◆ pid_min_value

double pid_min_value

Definition at line 29 of file Torque.h.

◆ pid_proportional_gain

double pid_proportional_gain

Definition at line 24 of file Torque.h.

◆ pid_windup_guard

double pid_windup_guard

Definition at line 27 of file Torque.h.

◆ scalePI

double scalePI

Definition at line 33 of file Torque.h.

◆ scaleTorque

double scaleTorque

Definition at line 34 of file Torque.h.

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