controller - abstract base class for robot controllers.
controller - abstract base class for robot controllers. Controllers can generate either acceleration or torque commands depending on whether the dynamicSystem is using kinematic or dynamic simulation, respectively. Controllers use a dynoTimer to ensure that computeTorqueCommand (or computeAcclerationCommand) get called at regular intervals by the dynamicSystem; the interval is determined by maxDt. When dynamic simulation is used, a dofInfluce adds the torque command Tcmd to the mechanism's joint torque vector. Note that Tcmd will be added at *every* simulation time step, while commands will be computed only every maxDt() seconds. Controllers can change their scheduling rate by returning different values from maxDt(); the new value will be used after computeAccelerationCommand() or computeTorqueCommand(). Note that very small values for maxDt() (say, < 0.005 seconds) may slow the simulation since the numeric integrator will be forced to take steps < maxDt() in length.File variables and defaults
- int verboseLevel = 1;
- int alwaysUpdate = 0;
- double maxDt = 0.03;
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