class ffController

an SRI-based controller for robots with free-flying, unactuated bases.

Inheritance:

Inherited from sriController:

Public Fields

Internal controller state

double mu

double lambda0

int singularCount

double ignoreLimitThresh

double gradientStepSize

int doGradientDescent

const char* jointControllerName

double minRate

int reachedFirst

int lastNumEndPts

sriControllerMode mode

jointController* jtCtrl

Public Methods

virtual int readParams(paramParser* parser)

virtual int setVariables(const ptrList* taskParams)

virtual int simInit(d2kSimulator* sim)

void setMode(sriControllerMode m)

Public Members

enum sriControllerMode

Inherited from controller:

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

Inherited from d2kComponent:

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 init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const

Inherited from synObject:

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

an SRI-based controller for robots with free-flying, unactuated bases. This controller is similar to the sriController, but uses the robot's dynamic equations to compute joint torque commands that will cause the desired end effector motions even when the robot's base is passively. The interface for the ffController is identical to that of the sriController; no class-specific variables are read from p-files or task parameters. File variables
See sriController class.

This class has no child classes.

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