class pidController

a controller for doing joint-space 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

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 for doing joint-space 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 user-supplied 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

This class has no child classes.

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