1 #ifndef FEEDFORWARD_CONTROLLER_H 2 #define FEEDFORWARD_CONTROLLER_H 4 #include "Controller.h" 5 #include <Klampt/Sensing/StateEstimator.h> 6 #include <KrisLibrary/robotics/Wrench.h> 29 virtual const char* Type()
const {
return "FeedforwardController"; }
30 virtual void Update(Real dt);
32 virtual bool ReadState(File& f);
33 virtual bool WriteState(File& f)
const;
36 virtual map<string,string> Settings()
const;
37 virtual bool GetSetting(
const string& name,
string& str)
const;
38 virtual bool SetSetting(
const string& name,
const string& str);
42 void AddForce(
int link,
const Vector3& f,
const Vector3& worldpt);
43 virtual vector<string> Commands()
const;
44 virtual bool SendCommand(
const string& name,
const string& str);
47 void SolveTorques(Vector& torques,Real dt);
49 shared_ptr<RobotController> base;
50 shared_ptr<RobotStateEstimator> stateEstimator;
51 bool enableGravityCompensation,enableFeedforwardAcceleration;
54 vector<Wrench> wrenches;
A base class for a robot controller. The base class does nothing.
Definition: Controller.h:29
The main robot type used in RobotSim.
Definition: Robot.h:83
Definition: ContactDistance.h:6
A class that adds a feedforward torque to the basic control. The necessary feedforward torque is esti...
Definition: FeedforwardController.h:24