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OSCAR::CTPDJointControl Class Reference

#include <CTPDJointControl.h>

Inheritance diagram for OSCAR::CTPDJointControl:

Inheritance graph

[legend]List of all members.


Public Methods
	CTPDJointControl (unsigned int dof, IDStandAlone *dyn)
virtual	~CTPDJointControl ()
virtual bool	SetGains (const VectorArray &gains)
void	SetSamplingTime (double dt)
virtual bool	GetControlTorques (Vector &torques)
Protected Attributes
Matrix	Kp
Matrix	Kv
Matrix	Ki
double	samplingTime
Vector	integral
Vector *	force

Constructor & Destructor Documentation

OSCAR::CTPDJointControl::CTPDJointControl ( unsigned int dof,

IDStandAlone * dyn

)

virtual OSCAR::CTPDJointControl::~CTPDJointControl ( ) [virtual]

Member Function Documentation

virtual bool OSCAR::CTPDJointControl::GetControlTorques ( Vector & torques ) [virtual]

Implements OSCAR::Control.

virtual bool OSCAR::CTPDJointControl::SetGains ( const VectorArray & gains ) [virtual]

Implements OSCAR::Control.

void OSCAR::CTPDJointControl::SetSamplingTime ( double dt )

Member Data Documentation

Vector* OSCAR::CTPDJointControl::force [protected]

Vector OSCAR::CTPDJointControl::integral [protected]

Matrix OSCAR::CTPDJointControl::Ki [protected]

Matrix OSCAR::CTPDJointControl::Kp [protected]

Matrix OSCAR::CTPDJointControl::Kv [protected]

double OSCAR::CTPDJointControl::samplingTime [protected]

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

CTPDJointControl.h

OSCAR Tutorials