class jointController

A controller allowing different control modes for each joint.

Inheritance:

Public Fields

d2kCtrlStatus status

current status.

ptrList controllers

list of singleJointControllers, one for each of the robot's joint DOFs

char gainFile[200]

name of file containing gain information, if any

singleJointController** jointToCtrl

mapping from joint to controller

double currentTime

current simulation time

Public Methods

jointController(void)

constructor

int readGains(FILE* fp)

reads gains for all singleJointControllers from a file

int writeGains(FILE* fp)

writes gains for all singleJointControllers to a file

singleJointController* ctrl(int i)

returns the i'th singleJointController

singleJointController* ctrl(joint* jt)

returns the singleJointController for the corresponding joint

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 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

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

A controller allowing different control modes for each joint.

File variables

• char gainFilename[] - optionally specifies file containing gains for each of the robot's joints.

The file format for the gain file consists of a number of identical entries, one for each of the robot's joints. The order of the entries is the same as the order of the corresponding joints in the configuration's mechanism. Each entry must contain the following floating-point values specified in the order below:
kp, kv, ki, kvi, thresh, kat, kvt, maxAcc
See the singleJointController class for descriptions of these variables.

Also see controller class for other file variables.

d2kCtrlStatus status

current status. Computed from singleJointControllers.

ptrList controllers

list of singleJointControllers, one for each of the robot's joint DOFs

char gainFile[200]

name of file containing gain information, if any

singleJointController** jointToCtrl

mapping from joint to controller

double currentTime

current simulation time

jointController(void)

constructor

int readGains(FILE* fp)

reads gains for all singleJointControllers from a file

int writeGains(FILE* fp)

writes gains for all singleJointControllers to a file

singleJointController* ctrl(int i)

returns the i'th singleJointController

singleJointController* ctrl(joint* jt)

returns the singleJointController for the corresponding joint

Direct child classes:

roverController

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