JointController Class Reference

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos... must be available in the class implementing JointController interface More...

#include <JointController.hpp>

Inherits Controller.

Inherited by BeamJointController, PDController, SpringJointController, SyncPDController, TrajectoryController, and VelRampController.

Public Types
enum	ControlMode {   POSITION = 1 , CNT_POSITION = 2 , VELOCITY = 4 , FORCE = 8 ,   CURRENT = 16 }
	control mode
typedef rw::core::Ptr< JointController >	Ptr
	smart pointer of this class
Public Types inherited from Controller
typedef rw::core::Ptr< Controller >	Ptr
	smart poiner definition for controller

Public Member Functions
virtual	~JointController ()
	destructor
virtual unsigned int	getControlModes ()=0
	gets the control mode mask. Defines which types of control the JointController supports
virtual void	setControlMode (ControlMode mode)=0
	sets the control mode of this JointController. If the mode is unsupported an exception is thrown
virtual void	setTargetPos (const rw::math::Q &vals)=0
	sets the target joint value for the current control mode.
virtual void	setTargetVel (const rw::math::Q &vals)=0
	sets the target velocity More...
virtual void	setTargetAcc (const rw::math::Q &vals)=0
	sets the target acceleration More...
virtual rw::models::Device &	getModel ()
	get kinematic model of device that is controlled
virtual rw::math::Q	getQ ()=0
	return the current position of the controlled robot
virtual rw::math::Q	getQd ()=0
	return the current velocity
Public Member Functions inherited from Controller
virtual	~Controller ()
	destructor
const std::string &	getName () const
	get the unique name of this controller More...
void	setName (const std::string &name)
	set the name of the controller More...

Protected Member Functions
	JointController (const std::string &name, rw::models::Device *dev)
	constructor More...
Protected Member Functions inherited from Controller
	Controller (const std::string &name)
	constructor More...

Detailed Description

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos... must be available in the class implementing JointController interface

Constructor & Destructor Documentation

JointController()

JointController ( const std::string &  name, rw::models::Device *  dev  )

inlineprotected

constructor

Parameters

name	[in] name of controller
dev	[in] device model of the controlled device

Returns

Member Function Documentation

setTargetAcc()

virtual void setTargetAcc ( const rw::math::Q &  vals )

pure virtual

sets the target acceleration

Parameters

vals	[in] in m/s^2

Implemented in VelRampController, TrajectoryController, SyncPDController, SpringJointController, PDController, and BeamJointController.

setTargetVel()

virtual void setTargetVel ( const rw::math::Q &  vals )

pure virtual

sets the target velocity

Parameters

vals	[in] in m/s

Implemented in VelRampController, TrajectoryController, SyncPDController, SpringJointController, PDController, and BeamJointController.

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The documentation for this class was generated from the following file:

• JointController.hpp