CartesianFeedForwardPositionController Class Reference

#include <RobotAPI/libraries/core/CartesianFeedForwardPositionController.h>

Public Member Functions
Eigen::VectorXf	calculate (const ::math::AbstractFunctionR1R6Ptr &trajectory, float t, VirtualRobot::IKSolver::CartesianSelection mode)
	CartesianFeedForwardPositionController (const VirtualRobot::RobotNodePtr &tcp)
Eigen::Vector3f	getOrientationDiff (const ::math::AbstractFunctionR1R6Ptr &trajectory, float t)
float	getOrientationError (const ::math::AbstractFunctionR1R6Ptr &trajectory, float t)
Eigen::Vector3f	getPositionDiff (const ::math::AbstractFunctionR1R6Ptr &trajectory, float t)
float	getPositionError (const ::math::AbstractFunctionR1R6Ptr &trajectory, float t)

Public Attributes
bool	enableFeedForward = true
float	KpOri = 1
float	KpPos = 1
float	maxOriVel = -1
float	maxPosVel = -1

Detailed Description

Definition at line 38 of file CartesianFeedForwardPositionController.h.

Constructor & Destructor Documentation

CartesianFeedForwardPositionController()

CartesianFeedForwardPositionController

(

const VirtualRobot::RobotNodePtr &

tcp

)

Definition at line 36 of file CartesianFeedForwardPositionController.cpp.

Member Function Documentation

calculate()

Eigen::VectorXf calculate	(	const ::math::AbstractFunctionR1R6Ptr &	trajectory,
		float	t,
		VirtualRobot::IKSolver::CartesianSelection	mode
	)

Definition at line 43 of file CartesianFeedForwardPositionController.cpp.

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getOrientationDiff()

Eigen::Vector3f getOrientationDiff	(	const ::math::AbstractFunctionR1R6Ptr &	trajectory,
		float	t
	)

Definition at line 123 of file CartesianFeedForwardPositionController.cpp.

getOrientationError()

float getOrientationError	(	const ::math::AbstractFunctionR1R6Ptr &	trajectory,
		float	t
	)

Definition at line 102 of file CartesianFeedForwardPositionController.cpp.

getPositionDiff()

Eigen::Vector3f getPositionDiff	(	const ::math::AbstractFunctionR1R6Ptr &	trajectory,
		float	t
	)

Definition at line 114 of file CartesianFeedForwardPositionController.cpp.

getPositionError()

float getPositionError	(	const ::math::AbstractFunctionR1R6Ptr &	trajectory,
		float	t
	)

Definition at line 92 of file CartesianFeedForwardPositionController.cpp.

Member Data Documentation

enableFeedForward

bool enableFeedForward = true

Definition at line 56 of file CartesianFeedForwardPositionController.h.

KpOri

float KpOri = 1

Definition at line 53 of file CartesianFeedForwardPositionController.h.

KpPos

float KpPos = 1

Definition at line 52 of file CartesianFeedForwardPositionController.h.

maxOriVel

float maxOriVel = -1

Definition at line 55 of file CartesianFeedForwardPositionController.h.

maxPosVel

float maxPosVel = -1

Definition at line 54 of file CartesianFeedForwardPositionController.h.

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

• RobotAPI/libraries/core/CartesianFeedForwardPositionController.h
• RobotAPI/libraries/core/CartesianFeedForwardPositionController.cpp