RobWorkProject
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JointController Class Referenceabstract

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos... must be available in the class implementing JointController interface More...

#include <JointController.hpp>

Inherits Controller.

Inherited by BeamJointController, PDController, SpringJointController, SyncPDController, TrajectoryController, and VelRampController.

Public Types

enum  ControlMode {
  POSITION = 1, CNT_POSITION = 2, VELOCITY = 4, FORCE = 8,
  CURRENT = 16
}
 control mode
 
typedef rw::common::Ptr< JointControllerPtr
 smart pointer of this class
 
- Public Types inherited from Controller
typedef rw::common::Ptr< ControllerPtr
 smart poiner definition for controller
 

Public Member Functions

virtual ~JointController ()
 destructor
 
virtual unsigned int getControlModes ()=0
 gets the control mode mask. Defines which types of control the JointController supports
 
virtual void setControlMode (ControlMode mode)=0
 sets the control mode of this JointController. If the mode is unsupported an exception is thrown
 
virtual void setTargetPos (const rw::math::Q &vals)=0
 sets the target joint value for the current control mode.
 
virtual void setTargetVel (const rw::math::Q &vals)=0
 sets the target velocity More...
 
virtual void setTargetAcc (const rw::math::Q &vals)=0
 sets the target acceleration More...
 
virtual rw::models::DevicegetModel ()
 get kinematic model of device that is controlled
 
virtual rw::math::Q getQ ()=0
 return the current position of the controlled robot
 
virtual rw::math::Q getQd ()=0
 return the current velocity
 
- Public Member Functions inherited from Controller
virtual ~Controller ()
 destructor
 
const std::string & getName () const
 get the unique name of this controller More...
 
void setName (const std::string &name)
 set the name of the controller More...
 

Protected Member Functions

 JointController (const std::string &name, rw::models::Device *dev)
 constructor More...
 
- Protected Member Functions inherited from Controller
 Controller (const std::string &name)
 constructor More...
 

Detailed Description

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos... must be available in the class implementing JointController interface

Constructor & Destructor Documentation

◆ JointController()

JointController ( const std::string &  name,
rw::models::Device dev 
)
inlineprotected

constructor

Parameters
name[in] name of controller
dev[in] device model of the controlled device
Returns

Member Function Documentation

◆ setTargetAcc()

virtual void setTargetAcc ( const rw::math::Q vals)
pure virtual

sets the target acceleration

Parameters
vals[in] in m/s^2

Implemented in PDController, SpringJointController, SyncPDController, BeamJointController, TrajectoryController, and VelRampController.

◆ setTargetVel()

virtual void setTargetVel ( const rw::math::Q vals)
pure virtual

sets the target velocity

Parameters
vals[in] in m/s

Implemented in PDController, SpringJointController, SyncPDController, BeamJointController, TrajectoryController, and VelRampController.


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