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

Constructor & Destructor Documentation

CartesianFeedForwardPositionController()

CartesianFeedForwardPositionController

(

const VirtualRobot::RobotNodePtr &

tcp

)

Member Function Documentation

calculate()

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

getOrientationDiff()

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

getOrientationError()

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

getPositionDiff()

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

getPositionError()

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

Member Data Documentation

enableFeedForward

bool enableFeedForward = true

KpOri

float KpOri = 1

KpPos

float KpPos = 1

maxOriVel

float maxOriVel = -1

maxPosVel

float maxPosVel = -1

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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