dg_tools
control_pd.hpp
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1 
11 #ifndef __SOT_Control_PD_HH__
12 #define __SOT_Control_PD_HH__
13 
14 /* --------------------------------------------------------------------- */
15 /* --- INCLUDE --------------------------------------------------------- */
16 /* --------------------------------------------------------------------- */
17 
18 /* Matrix */
19 #include <dynamic-graph/linear-algebra.h>
20 namespace dg = dynamicgraph;
21 
22 /* SOT */
23 #include <dynamic-graph/signal-time-dependent.h>
24 #include <dynamic-graph/signal-ptr.h>
25 #include <dynamic-graph/entity.h>
26 
27 
28 /* --------------------------------------------------------------------- */
29 /* --- API ------------------------------------------------------------- */
30 /* --------------------------------------------------------------------- */
31 
32 #if defined (WIN32)
33 # if defined (control_pd_EXPORTS)
34 # define PDController_EXPORT __declspec(dllexport)
35 # else
36 # define PDController_EXPORT __declspec(dllimport)
37 # endif
38 #else
39 # define PDController_EXPORT
40 #endif
41 
42 namespace dynamicgraph {
43  namespace sot {
44 
45  /* --------------------------------------------------------------------- */
46  /* --- CLASS ----------------------------------------------------------- */
47  /* --------------------------------------------------------------------- */
48 
49  class PDController_EXPORT PDController
50  : public Entity
51  {
52 
53  public: /* --- CONSTRUCTOR ---- */
54 
55  PDController( const std::string & name );
56 
57  public: /* --- INIT --- */
58 
59  public: /* --- CONSTANTS --- */
60 
61  /* Default values. */
62  static const double TIME_STEP_DEFAULT; // = 0.001
63 
64  public: /* --- ENTITY INHERITANCE --- */
65  static const std::string CLASS_NAME;
66  virtual void display( std::ostream& os ) const;
67  virtual const std::string& getClassName( void ) const {return CLASS_NAME;}
68 
69 
70  protected:
71 
72  /* Parameters of the torque-control function:
73  * tau = kp * (qd-q) + kd* (dqd-dq) */
74  double TimeStep;
75  double _dimension;
76 
77  public: /* --- SIGNALS --- */
78 
79  SignalPtr<dg::Vector,int> KpSIN;
80  SignalPtr<dg::Vector,int> KdSIN;
81  SignalPtr<dg::Vector,int> positionSIN;
82  SignalPtr<dg::Vector,int> desiredpositionSIN;
83  SignalPtr<dg::Vector,int> velocitySIN;
84  SignalPtr<dg::Vector,int> desiredvelocitySIN;
85  SignalTimeDependent<dg::Vector,int> controlSOUT;
86  SignalTimeDependent<dg::Vector,int> positionErrorSOUT;
87  SignalTimeDependent<dg::Vector,int> velocityErrorSOUT;
88 
89 
90 
91  protected:
92 
93  double& setsize(int dimension);
94  dg::Vector& computeControl( dg::Vector& tau,int t );
95  dg::Vector position_error;
96  dg::Vector velocity_error;
97  dg::Vector& getPositionError( dg::Vector& position_error,int t );
98  dg::Vector& getVelocityError( dg::Vector& velocity_error,int t );
99 
100  };
101 
102 
103 
104 } // namespace sot
105 } // namespace dynamicgraph
106 
107 
108 
109 #endif // #ifndef __SOT_Control_PD_HH__
dynamicgraph::sot::PDController
Definition: control_pd.hpp:49
dynamicgraph
Definition: ComImpedanceController.hpp:31