00001 00002 // 00003 // Title : CTPDJointControl.h 00004 // Project : 00005 // Created : Mon Dec 23 11:09:55 2002 00006 // Author : Chalongrath Pholsiri 00007 // Platforms : All 00008 // Copyright : The University of Texas at Austin 00009 // All Rights Reserved. 00010 // Access : Company Confidential 00011 // Purpose : Declaration of CTPDJointControl class 00012 // 00013 //---------------------------------------------------------------------------- 00014 // 00015 // Classes: 00016 // CTPDJointControl 00017 // 00018 // Global Functions: 00019 // <none> 00020 // 00021 // Global Variables: 00022 // <none> 00023 // 00024 //---------------------------------------------------------------------------- 00025 // 00026 // $Revisions$ 00027 // 00028 // $Log: CTPDJointControl.h,v $ 00029 // Revision 1.3 2005/03/14 21:51:02 pmarch 00030 // Added to namespace OSCAR and removed "RR" from front of class names. 00031 // 00032 // Revision 1.2 2004/07/26 22:10:21 chetan 00033 // Made changes to compile with Warning Level 4 and also under the latest C++ standard 00034 // 00035 // Revision 1.1 2004/06/01 21:59:31 dinesh 00036 // Workspace for the Control Systems Domain 00037 // 00038 // 00040 00041 #ifndef CTPDJointControl_hpp 00042 #define CTPDJointControl_hpp 00043 00044 #include "JointControl.h" 00045 00047 namespace OSCAR { 00048 00049 class CTPDJointControl : public JointControl 00050 { 00051 public: 00052 CTPDJointControl(unsigned int dof, IDStandAlone* dyn); 00053 virtual ~CTPDJointControl(); 00054 00055 virtual bool SetGains(const VectorArray& gains); 00056 void SetSamplingTime(double dt); 00057 virtual bool GetControlTorques(Vector& torques); 00058 00059 protected: 00060 Matrix Kp, Kv, Ki; 00061 double samplingTime; 00062 Vector integral; 00063 Vector *force; 00064 }; 00065 00066 } 00067 #endif //CTPDJointControl_hpp
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