![]() |
RobWorkProject
25.2.11-
|
a JointController that use a PD loop on each joint to control the velocity such that the position target is reached at the same time. The PD controls the joint position and velocity from a generated synchronous ramp profile. More...
#include <TrajectoryController.hpp>
Inherits JointController, and SimulatedController.
Public Member Functions | |
TrajectoryController (rwsim::dynamics::RigidDevice *rdev, const rw::kinematics::State &state) | |
constructor More... | |
virtual | ~TrajectoryController () |
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 () |
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) |
![]() | |
virtual | ~JointController () |
destructor | |
virtual rw::models::Device & | getModel () |
get kinematic model of device that is controlled | |
![]() | |
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... | |
![]() | |
virtual std::string | getControllerName ()=0 |
get the name of this controller More... | |
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... | |
![]() | |
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 | |
![]() | |
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 | |
![]() | |
typedef rw::core::Ptr< Controller > | Ptr |
smart poiner definition for controller | |
![]() | |
typedef rw::core::Ptr< SimulatedController > | Ptr |
smart pointer type of this class | |
![]() | |
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. | |
![]() | |
JointController (const std::string &name, rw::models::Device *dev) | |
constructor More... | |
![]() | |
Controller (const std::string &name) | |
constructor More... | |
![]() | |
SimulatedController (rw::models::ControllerModel::Ptr model) | |
Constructor. More... | |
![]() | |
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 | |
![]() | |
bool | _registered |
True if object has registered its state. | |
std::vector< rw::core::Ptr< StateData > > | _datas |
Data. | |
StateStructure::Ptr | _stateStruct |
The state structure. | |
a JointController that use a PD loop on each joint to control the velocity such that the position target is reached at the same time. The PD controls the joint position and velocity from a generated synchronous ramp profile.
|
inline |
constructor
rdev | |
state |
|
inlinevirtual |
gets the control mode mask. Defines which types of control the JointController supports
This controller supports both position and velocity control.
Implements JointController.
|
inlinevirtual |
return the current position of the controlled robot
Implements JointController.
|
inlinevirtual |
return the current velocity
Implements JointController.
double getSampleTime | ( | ) |
the time between samples
|
inlinevirtual |
|
virtual |
reset the controller to the applied state
state | [in] the state to reset to |
Implements SimulatedController.
|
virtual |
sets the control mode of this JointController. If the mode is unsupported an exception is thrown
Implements JointController.
|
inlinevirtual |
void setSampleTime | ( | double | stime | ) |
set the time between samples in seconds
stime | [in] sample time |
|
inlinevirtual |
|
inlinevirtual |
sets the target joint value for the current control mode.
Implements JointController.
|
inlinevirtual |
|
virtual |
updates/steps the controller with time step dt. It will update the state state accordingly
info | [in] update information related to the time step. |
state | [in/out] the current state |
Implements SimulatedController.