ROBOOP::Proportional_Derivative Class Reference

#include <controller.h>

Detailed Description

Proportional derivative controller class.

The driving torques can be expressed as

$\tau = K_p(q_d-q) + K_d(\dot{q}_d-q)$

where $K_p$ , $K_d$ are diagonal positive definie matrix.

Definition at line 246 of file controller.h.

Public Member Functions

Proportional_Derivative (const short dof=1)

Constructor.

Proportional_Derivative (const Robot_basic &robot, const DiagonalMatrix &Kp, const DiagonalMatrix &Kd)

Constructor.

Proportional_Derivative (const Proportional_Derivative &x)

Copy constructor.

Proportional_Derivative & operator= (const Proportional_Derivative &x)

Overload = operator.

ReturnMatrix torque_cmd (Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)

Output torque.

short set_Kd (const DiagonalMatrix &Kd)

Assign the velocity error gain matrix $K_p(i,i)$ .

short set_Kp (const DiagonalMatrix &Kp)

Assign the position error gain matrix .

Private Attributes

int dof

Degree of freedom.

ColumnVector q

Robot joints positions.

ColumnVector qp

Robot joints velocity.

ColumnVector qpp

Robot joints acceleration.

ColumnVector tau

Output torque.

ColumnVector zero3

$3\times 1$ zero vector.

DiagonalMatrix Kp

Position error gain.

DiagonalMatrix Kd

Velocity error gain.

Constructor & Destructor Documentation

ROBOOP::Proportional_Derivative::Proportional_Derivative ( const short dof = 1 )

Constructor.

Definition at line 696 of file controller.cpp.

ROBOOP::Proportional_Derivative::Proportional_Derivative	(	const Robot_basic &	robot,
		const DiagonalMatrix &	Kp,
		const DiagonalMatrix &	Kd
	)

Constructor.

Definition at line 705 of file controller.cpp.

ROBOOP::Proportional_Derivative::Proportional_Derivative ( const Proportional_Derivative & x )

Copy constructor.

Definition at line 719 of file controller.cpp.

Member Function Documentation

Proportional_Derivative & ROBOOP::Proportional_Derivative::operator= ( const Proportional_Derivative & x )

Overload = operator.

Definition at line 731 of file controller.cpp.

short ROBOOP::Proportional_Derivative::set_Kd ( const DiagonalMatrix & Kd_ )

Assign the velocity error gain matrix $K_p(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 770 of file controller.cpp.

Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().

short ROBOOP::Proportional_Derivative::set_Kp ( const DiagonalMatrix & Kp_ )

Assign the position error gain matrix $K_p(i,i)$ .

Returns:: short: 0 or WRONG_SIZE if the matrix is not $dof \times dof$ .

Definition at line 787 of file controller.cpp.

Referenced by Proportional_Derivative(), and ROBOOP::Control_Select::set_control().

ReturnMatrix ROBOOP::Proportional_Derivative::torque_cmd	(	Robot_basic &	robot,
		const ColumnVector &	qd,
		const ColumnVector &	qpd
	)

Output torque.

Definition at line 745 of file controller.cpp.

Referenced by ROBOOP::Dynamics::xdot().

Member Data Documentation

int ROBOOP::Proportional_Derivative::dof [private]

Degree of freedom.

Definition at line 259 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kd(), set_Kp(), and torque_cmd().

DiagonalMatrix ROBOOP::Proportional_Derivative::Kd [private]

Velocity error gain.

Definition at line 265 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kd(), and torque_cmd().

DiagonalMatrix ROBOOP::Proportional_Derivative::Kp [private]

Position error gain.

Definition at line 265 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), set_Kp(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::q [private]

Robot joints positions.

Definition at line 260 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::qp [private]

Robot joints velocity.

Definition at line 260 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::qpp [private]

Robot joints acceleration.

Definition at line 260 of file controller.h.

ColumnVector ROBOOP::Proportional_Derivative::tau [private]

Output torque.

Definition at line 260 of file controller.h.

Referenced by operator=(), Proportional_Derivative(), and torque_cmd().

ColumnVector ROBOOP::Proportional_Derivative::zero3 [private]

$3\times 1$ zero vector.

Definition at line 260 of file controller.h.

Referenced by operator=(), and Proportional_Derivative().

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

ROBOOP v1.21a

Generated Wed Oct 4 00:00:45 2006 by Doxygen 1.4.7