Controller wrapper for Hubo position commands. More...

Public Member Functions
	HuboController (dart::dynamics::Skeleton *skeleton, const Eigen::VectorXd p, const Eigen::VectorXd i, const Eigen::VectorXd d, const Eigen::VectorXd mask, double tInit)
	Constructs a HuboController object.
virtual	~HuboController ()
	Destructs a HuboController object. Virtual.
Eigen::VectorXd	getTorques (const Eigen::VectorXd &curPos, const Eigen::VectorXd &curVel, double t)
	Gets the torques for the skeleton given desired positions and velocities for the joints.
Public Attributes
Eigen::VectorXd	refPos
Eigen::VectorXd	refVel
Eigen::MatrixXd	Kp
Eigen::MatrixXd	Kd
Eigen::MatrixXd	Ki
Eigen::VectorXd	errorLast
Eigen::VectorXd	errorDeriv
Eigen::VectorXd	errorInteg
Eigen::MatrixXd	jointMask
double	tLast
dart::dynamics::Skeleton *	skel

Detailed Description

Controller wrapper for Hubo position commands.

Constructor & Destructor Documentation

HuboController::HuboController	(	dart::dynamics::Skeleton *	skeleton,
		const Eigen::VectorXd	p,
		const Eigen::VectorXd	i,
		const Eigen::VectorXd	d,
		const Eigen::VectorXd	mask,
		double	tInit
	)

Constructs a HuboController object.

Parameters:

skeleton	Skeleton to control
p	Vector of proportional gains
i	Vector of integral gains
d	Vector of derivative gains
mask	Mask for skeleton
tInit	Initialization time

Eigen::VectorXd HuboController::getTorques	(	const Eigen::VectorXd &	curPos,
		const Eigen::VectorXd &	curVel,
		double	t
	)

Gets the torques for the skeleton given desired positions and velocities for the joints.

Parameters:

curPos	Current position of the joints
curVel	Current velocity of the joints
t	Time

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