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

 PowerJumpControl (const std::string &name)
 
void init (const double &step)
 
virtual const std::string & getClassName (void) const
 

Public Attributes

SignalPtr< dg::Vector, int > leg_lengthSIN
 
SignalPtr< dg::Vector, int > cnt_sensorSIN
 
SignalPtr< dg::Vector, int > leg_length_triggerSIN
 
SignalPtr< dg::Vector, int > leg_length_airSIN
 
SignalPtr< dg::Vector, int > des_fffSIN
 
SignalPtr< dg::Vector, int > des_weight_fffSIN
 
SignalPtr< dg::Vector, int > kp_groundSIN
 
SignalPtr< dg::Vector, int > kp_airSIN
 
SignalTimeDependent< dg::Vector, int > return_des_posSOUT
 
SignalTimeDependent< dg::Vector, int > return_des_forceSOUT
 
SignalTimeDependent< dg::Vector, int > return_des_kpSOUT
 

Static Public Attributes

static const double TIME_STEP_DEFAULT
 
static const std::string CLASS_NAME
 

Protected Member Functions

dg::Vector & return_des_pos (dg::Vector &des_pos, int t)
 
dg::Vector & return_des_force (dg::Vector &des_force, int t)
 
dg::Vector & return_des_kp (dg::Vector &des_kp, int t)
 

Protected Attributes

double TimeStep
 
int pos_trigger_flag_
 
int force_trigger_flag_
 
int kp_trigger_flag_
 

Member Function Documentation

dynamicgraph::Vector & PowerJumpControl::return_des_force ( dg::Vector &  des_force,
int  t 
)
protected

This method computes desired forces depending on state of the teststand

dynamicgraph::Vector & PowerJumpControl::return_des_kp ( dg::Vector &  des_kp,
int  t 
)
protected

This method computes desired kp gain depending on state of the teststand

dynamicgraph::Vector & PowerJumpControl::return_des_pos ( dg::Vector &  des_pos,
int  t 
)
protected

This method computes desired position depending on state of the teststand

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