dg_tools
Public Member Functions | Public Attributes | Static Public Attributes | Protected Member Functions | Protected Attributes | List of all members
dynamicgraph::sot::PDController Class Reference
Inheritance diagram for dynamicgraph::sot::PDController:
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Public Member Functions

 PDController (const std::string &name)
 
virtual void display (std::ostream &os) const
 
virtual const std::string & getClassName (void) const
 

Public Attributes

SignalPtr< dg::Vector, int > KpSIN
 
SignalPtr< dg::Vector, int > KdSIN
 
SignalPtr< dg::Vector, int > positionSIN
 
SignalPtr< dg::Vector, int > desiredpositionSIN
 
SignalPtr< dg::Vector, int > velocitySIN
 
SignalPtr< dg::Vector, int > desiredvelocitySIN
 
SignalTimeDependent< dg::Vector, int > controlSOUT
 
SignalTimeDependent< dg::Vector, int > positionErrorSOUT
 
SignalTimeDependent< dg::Vector, int > velocityErrorSOUT
 

Static Public Attributes

static const double TIME_STEP_DEFAULT = .001
 
static const std::string CLASS_NAME
 

Protected Member Functions

double & setsize (int dimension)
 
dg::Vector & computeControl (dg::Vector &tau, int t)
 
dg::Vector & getPositionError (dg::Vector &position_error, int t)
 
dg::Vector & getVelocityError (dg::Vector &velocity_error, int t)
 

Protected Attributes

double TimeStep
 
double _dimension
 
dg::Vector position_error
 
dg::Vector velocity_error
 
The documentation for this class was generated from the following files: