In file /home/blah/darwin2k/src/d2k/ctrl/pidController.h:a controller for doing jointspace PID control.
Inheritance:
Public Fields

vector akp
 position gain for acceleration commands

vector akd
 derivative gain for acceleration commands

vector aki
 integral gain for acceleration commands

vector kp
 position gain for joint torque/force commands

vector kd
 derivative gain for joint torque/force commands

vector ki
 integral gain for joint torque/force commands

vector pos
 vector of position setpoints

vector vel
 vector of velocity setpoints.
Public Methods

virtual int setAccelerationGains(double kp, double kd, double ki)
 sets the gains for acceleration commands for all DOFs

virtual int setTorqueGains(double kp, double kd, double ki)
 sets the gains for torque commands for all DOFs the derivative and integral gains are set to 2*sqrt(kp) and kp/100, respectively

virtual int setAccelerationGains(double kp)
 sets the gains for acceleration commands for all DOFs the derivative and integral gains are set to 2*sqrt(kp) and kp/100, respectively

virtual int setTorqueGains(double kp)
 sets the gains for acceleration commands for all DOFs

virtual int setAccelerationGains(int i, double kp)
 sets the gains for acceleration commands for a specific DOF.

virtual int setTorqueGains(int i, double kp)
 sets the gains for torque commands for a specific DOF the derivative and integral gains are set to 2*sqrt(kp) and kp/100, respectively
Public Fields

vector accCmd

vector Tcmd

mechanism* mech

dynoTimer* timer

dofInfluence* inf

int alwaysUpdate
Public Methods

virtual double maxDt(void)

virtual int computeTorqueCommand(double currentTime, int &computedAcc)

virtual int computeAccelerationCommand(double currentTime)

virtual int madeProgress(double currentTime)

virtual int reset(void)
Public Members

inherited from d2kComponent

not currently used
Protected Fields

double _maxDt
Public Fields

d2kSimulator* sim

configuration* cfg

const char* label

int active
Public Methods

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

virtual const char* getCfgName(int i)

virtual int readParams(paramParser* parser)

virtual int setVariables(const ptrList* taskParamRecs)

virtual int simInit(d2kSimulator* Sim)

virtual int init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const
Public Fields

static int staticClassID

int objectID

int verboseLevel
Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const
Documentation
a controller for doing jointspace PID control. Users may also want
to check out the jointController, which is much more flexible than
the pidController. The pidController doesn't usefully read gains
from files, so an d2kSimulator or d2kComponent (or other usersupplied
code) must set the gains to get any useful behavior out of the
controller. The controller has different sets of gains for
computing torque and acceleration commands.
File variables
 double kp = 20;
 double kd = 8.94;
 double ki = 0.2;
Also see controller class for other
parameters.
 vector akp
 position gain for acceleration commands
 vector akd
 derivative gain for acceleration commands
 vector aki
 integral gain for acceleration commands
 vector kp
 position gain for joint torque/force commands
 vector kd
 derivative gain for joint torque/force commands
 vector ki
 integral gain for joint torque/force commands
 vector pos
 vector of position setpoints
 vector vel
 vector of velocity setpoints. Defaults to 0.
 virtual int setAccelerationGains(double kp, double kd, double ki)
 sets the gains for acceleration commands for all DOFs
 virtual int setTorqueGains(double kp, double kd, double ki)
 sets the gains for torque commands for all DOFs
the derivative and integral gains are set to 2*sqrt(kp)
and kp/100, respectively
 virtual int setAccelerationGains(double kp)
 sets the gains for acceleration commands for all DOFs
the derivative and integral gains are set to 2*sqrt(kp)
and kp/100, respectively
 virtual int setTorqueGains(double kp)
 sets the gains for acceleration commands for all DOFs
 virtual int setAccelerationGains(int i, double kp)
 sets the gains for acceleration commands for a specific DOF.
the derivative and integral gains are set to 2*sqrt(kp)
and kp/100, respectively
 virtual int setTorqueGains(int i, double kp)
 sets the gains for torque commands for a specific DOF
the derivative and integral gains are set to 2*sqrt(kp)
and kp/100, respectively
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