a JointController that use a PD loop on each joint to control the velocity such that the position target is reached. More...

#include <PDController.hpp>

Inherits JointController, and SimulatedController.

Public Types
typedef rw::core::Ptr< PDController >	Ptr

Public Types inherited from JointController
enum	ControlMode { POSITION = 1 , CNT_POSITION = 2 , VELOCITY = 4 , FORCE = 8 , CURRENT = 16 }
	control mode

typedef rw::core::Ptr< JointController >	Ptr
	smart pointer of this class

Public Types inherited from Controller
typedef rw::core::Ptr< Controller >	Ptr
	smart poiner definition for controller

Public Types inherited from SimulatedController
typedef rw::core::Ptr< SimulatedController >	Ptr
	smart pointer type of this class

Public Types inherited from Stateless
typedef rw::core::Ptr< Stateless >	Ptr
	Smart pointer type for Stateless.

Public Member Functions
	PDController (const std::string &name, rw::core::Ptr< rwsim::dynamics::DynamicDevice > rdev, ControlMode cmode, const std::vector< PDParam > &pdparams, double dt)
	constructor More...

	PDController (const std::string &name, rw::core::Ptr< rwsim::dynamics::DynamicDevice > rdev, ControlMode cmode, const PDParam &pdparam, double dt)
	constructor More...

virtual	~PDController ()
	destructor

std::vector< PDParam >	getParameters ()
	the PD parameters More...

void	setParameters (const std::vector< PDParam > &params)
	set the PD parameters More...

double	getSampleTime ()
	the time between samples More...

void	setSampleTime (double stime)
	set the time between samples in seconds More...

void	update (const rwlibs::simulation::Simulator::UpdateInfo &info, rw::kinematics::State &state)
	updates/steps the controller with time step dt. It will update the state state accordingly More...

void	reset (const rw::kinematics::State &state)
	reset the controller to the applied state More...

Controller *	getController ()
	get the name of this controller More...

std::string	getControllerName ()
	get the name of this controller More...

unsigned int	getControlModes ()
	gets the control mode mask. Defines which types of control the JointController supports More...

void	setControlMode (ControlMode mode)
	sets the control mode of this JointController. If the mode is unsupported an exception is thrown More...

void	setTargetPos (const rw::math::Q &target)
	sets the target joint value for the current control mode. More...

void	setTargetVel (const rw::math::Q &vals)
	sets the target velocity More...

void	setTargetAcc (const rw::math::Q &vals)
	sets the target acceleration More...

rw::math::Q	getQ ()
	return the current position of the controlled robot More...

rw::math::Q	getQd ()
	return the current velocity More...

void	setEnabled (bool enabled)
	disable or enable this controller More...

bool	isEnabled () const
	true if this controller is enabled More...

rwlibs::control::Controller::Ptr	getControllerHandle (rwlibs::simulation::Simulator::Ptr sim)

Public Member Functions inherited from JointController
virtual	~JointController ()
	destructor

virtual rw::models::Device &	getModel ()
	get kinematic model of device that is controlled

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...

Public Member Functions inherited from SimulatedController
virtual rw::core::Ptr< rwlibs::control::Controller >	getControllerHandle (rw::core::Ptr< rwlibs::simulation::Simulator > sim)=0
	get the controller handle eg. statefull handle, associated with this simulated controller More...

rw::core::Ptr< rw::models::ControllerModel >	getControllerModel ()
	get the controllermodel of this simulated controller More...

Public Member Functions inherited from Stateless
virtual	~Stateless ()
	destructor

virtual void	registerIn (State &state)
	initialize this stateless data to a specific state More...

virtual void	registerIn (StateStructure::Ptr state)
	register this stateless object in a statestructure.

virtual void	unregister ()
	unregisters all state data of this stateless object

StateStructure::Ptr	getStateStructure ()
	Get the state structure. More...

const StateStructure::Ptr	getStateStructure () const
	Get the state structure. More...

bool	isRegistered ()
	Check if object has registered its state. More...

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

Protected Member Functions inherited from Controller
	Controller (const std::string &name)
	constructor More...

Protected Member Functions inherited from SimulatedController
	SimulatedController (rw::models::ControllerModel::Ptr model)
	Constructor. More...

Protected Member Functions inherited from Stateless
	Stateless ()
	constructor

template<class T >
void	add (StatelessData< T > &data)
	implementations of sensor should add all their stateless data on initialization

void	add (StateData *data)
	Add data. More...

void	add (rw::core::Ptr< StateData > data)
	implementations of sensor should add all their state data on initialization

Protected Attributes inherited from Stateless
bool	_registered
	True if object has registered its state.

std::vector< rw::core::Ptr< StateData > >	_datas
	Data.

StateStructure::Ptr	_stateStruct
	The state structure.

Detailed Description

a JointController that use a PD loop on each joint to control the velocity such that the position target is reached.

Constructor & Destructor Documentation

◆ PDController() [1/2]

PDController	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::DynamicDevice >	rdev,
		ControlMode	cmode,
		const std::vector< PDParam > &	pdparams,
		double	dt
	)

constructor

Parameters

name
rdev	[in] device that is to be controlled
cmode	[in] the control mode used
pdparams	[in] list of pd parameters. must be same length as number of joints.
dt	[in] the sampletime (time between samples in seconds) used in the control loop, this should be larger than the expected update sample time.

◆ PDController() [2/2]

PDController	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::DynamicDevice >	rdev,
		ControlMode	cmode,
		const PDParam &	pdparam,
		double	dt
	)

constructor

Parameters

name
rdev	[in] device that is to be controlled
cmode	[in] the control mode used
pdparam	[in] pd parameter - used for all joints
dt	[in] the sampletime (time between samples in seconds) used in the control loop, this should be larger than the expected update sample time.

Member Function Documentation

◆ getController()

Controller* getController ( )

inline

get the name of this controller

Returns: name of this controller

◆ getControllerName()

std::string getControllerName ( )

inlinevirtual

get the name of this controller

Returns: name of this controller

Implements SimulatedController.

◆ getControlModes()

unsigned int getControlModes ( )

inlinevirtual

gets the control mode mask. Defines which types of control the JointController supports

This controller supports both position and velocity control.

Implements JointController.

◆ getParameters()

std::vector<PDParam> getParameters ( )

the PD parameters

Returns: list of PD parameters

◆ getQ()

rw::math::Q getQ ( )

inlinevirtual

return the current position of the controlled robot

Implements JointController.

◆ getQd()

rw::math::Q getQd ( )

inlinevirtual

return the current velocity

Implements JointController.

◆ getSampleTime()

double getSampleTime ( )

the time between samples

Returns: the sample time in seconds

◆ isEnabled()

bool isEnabled ( ) const

inlinevirtual

true if this controller is enabled

Returns

Implements SimulatedController.

◆ reset()

void reset ( const rw::kinematics::State & state )

virtual

reset the controller to the applied state

Parameters

state [in] the state to reset to

Implements SimulatedController.

◆ setControlMode()

void setControlMode ( ControlMode mode )

virtual

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

Implements JointController.

◆ setEnabled()

void setEnabled ( bool enabled )

inlinevirtual

disable or enable this controller

Parameters

enabled

Implements SimulatedController.

◆ setParameters()

void setParameters ( const std::vector< PDParam > & params )

set the PD parameters

Parameters

params [in] list of parameters. must be same length as DOF of controlling device

◆ setSampleTime()

void setSampleTime ( double stime )

set the time between samples in seconds

Parameters

stime [in] sample time

◆ setTargetAcc()

void setTargetAcc ( const rw::math::Q & vals )

virtual

sets the target acceleration

Parameters

vals	[in] in m/s^2

Implements JointController.

◆ setTargetPos()

void setTargetPos ( const rw::math::Q & target )

virtual

sets the target joint value for the current control mode.

Implements JointController.

◆ setTargetVel()

void setTargetVel ( const rw::math::Q & vals )

virtual

sets the target velocity

Parameters

vals	[in] in m/s

Implements JointController.

◆ update()

void update	(	const rwlibs::simulation::Simulator::UpdateInfo &	info,
		rw::kinematics::State &	state
	)

virtual

updates/steps the controller with time step dt. It will update the state state accordingly

Parameters

info	[in] update information related to the time step.
state	[in/out] the current state

Implements SimulatedController.

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

PDController.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PDController() [1/2]

◆ PDController() [2/2]

Member Function Documentation

◆ getController()

◆ getControllerName()

◆ getControlModes()

◆ getParameters()

◆ getQ()

◆ getQd()

◆ getSampleTime()

◆ isEnabled()

◆ reset()

◆ setControlMode()

◆ setEnabled()

◆ setParameters()

◆ setSampleTime()

◆ setTargetAcc()

◆ setTargetPos()

◆ setTargetVel()

◆ update()