PoseController Class Reference

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

#include <PoseController.hpp>

Inherits Controller, and SimulatedController.

Public Types
typedef rw::core::Ptr< PoseController >	Ptr
	smart pointer type
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 to a Stateless.
typedef rw::core::Ptr< const Stateless >	CPtr
	Smart pointer type to a constant Stateless.

Public Member Functions
	PoseController (const std::string &name, rw::core::Ptr< rwsim::dynamics::DynamicDevice > rdev, const rw::kinematics::State &state, double dt)
	constructor More...
	PoseController (const std::string &name, rw::core::Ptr< rwsim::dynamics::DynamicDevice > rdev, const rw::kinematics::State &state, double dt, rw::core::Ptr< rw::kinematics::Frame > endframe)
	constructor More...
virtual	~PoseController ()
	destructor
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...
rw::core::Ptr< rw::models::Device >	getControlledDevice ()
	get the device that is controlled by this controller More...
void	setEnabled (bool enabled)
	disable or enable this controller More...
bool	isEnabled () const
	true if this controller is enabled More...
void	setTarget (const rw::math::Transform3D<> &target)
	sets the target joint value for the current control mode. More...
void	setTarget (const rw::math::Transform3D<> &target, const rw::math::VelocityScrew6D<> &vals)
	sets target which is a cartesean position and the target velocity in that position More...
rwlibs::control::Controller::Ptr	getControllerHandle (rwlibs::simulation::Simulator::Ptr sim)
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 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

PoseController() [1/2]

PoseController	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::DynamicDevice >	rdev,
		const rw::kinematics::State &	state,
		double	dt
	)

constructor

Parameters

name
rdev	[in] device that is to be controlled
state	[in] target state
dt	[in] the sampletime (time between samples in seconds) used in the control loop, this should be larger than the expected update sample time.

PoseController() [2/2]

PoseController	(	const std::string &	name,
		rw::core::Ptr< rwsim::dynamics::DynamicDevice >	rdev,
		const rw::kinematics::State &	state,
		double	dt,
		rw::core::Ptr< rw::kinematics::Frame >	endframe
	)

constructor

Parameters

name
rdev	[in] device that is to be controlled
state	[in] target state
dt	[in] the sampletime (time between samples in seconds) used in the control loop, this should be larger than the expected update sample time.
endframe

Member Function Documentation

getControlledDevice()

rw::core::Ptr<rw::models::Device> getControlledDevice ( )

inline

get the device that is controlled by this controller

Returns

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.

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.

setEnabled()

void setEnabled ( bool  enabled )

inlinevirtual

disable or enable this controller

Parameters

enabled

Implements SimulatedController.

setSampleTime()

void setSampleTime

(

double

stime

)

set the time between samples in seconds

Parameters

stime

[in] sample time

setTarget() [1/2]

void setTarget

(

const rw::math::Transform3D<> &

target

)

sets the target joint value for the current control mode.

setTarget() [2/2]

void setTarget	(	const rw::math::Transform3D<> &	target,
		const rw::math::VelocityScrew6D<> &	vals
	)

sets target which is a cartesean position and the target velocity in that position

Parameters

target
vals

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.

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

• PoseController.hpp