Klamp't
0.9.0
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A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base. More...
#include <FeedforwardController.h>
Public Member Functions | |
FeedforwardController (RobotModel &robot, shared_ptr< RobotController > base) | |
virtual const char * | Type () const |
virtual void | Update (Real dt) |
virtual void | Reset () |
virtual bool | ReadState (File &f) |
virtual bool | WriteState (File &f) const |
virtual map< string, string > | Settings () const |
virtual bool | GetSetting (const string &name, string &str) const |
virtual bool | SetSetting (const string &name, const string &str) |
void | ZeroForces () |
void | AddForce (int link, const Vector3 &f, const Vector3 &worldpt) |
virtual vector< string > | Commands () const |
virtual bool | SendCommand (const string &name, const string &str) |
void | SolveTorques (Vector &torques, Real dt) |
Public Member Functions inherited from Klampt::RobotController | |
RobotController (RobotModel &robot) | |
void | SetPIDCommand (const Config &qdes) |
void | SetPIDCommand (const Config &qdes, const Config &dqdes) |
void | SetFeedforwardPIDCommand (const Config &qdes, const Config &dqdes, const Vector &torques) |
void | SetTorqueCommand (const Vector &torques) |
bool | GetCommandedConfig (Config &q) |
bool | GetCommandedVelocity (Config &dq) |
bool | GetSensedConfig (Config &q) |
bool | GetSensedVelocity (Config &dq) |
Public Attributes | |
shared_ptr< RobotController > | base |
shared_ptr< RobotStateEstimator > | stateEstimator |
bool | enableGravityCompensation |
bool | enableFeedforwardAcceleration |
Vector3 | gravity |
vector< Wrench > | wrenches |
Public Attributes inherited from Klampt::RobotController | |
RobotModel & | robot |
Real | time |
Real | nominalTimeStep |
a "desired" time step, by default 0, which acts as a hint to the simulator. Note that it doesn't have to abide the hint. | |
RobotSensors * | sensors |
sensor input (filled in by simulator) | |
RobotMotorCommand * | command |
motor command output (output to simulator) | |
A class that adds a feedforward torque to the basic control. The necessary feedforward torque is estimated assuming the robot is fixed-base.
Settings: