robot::control::ManipulatorPIDPositionController Class Reference

Inheritance diagram for robot::control::ManipulatorPIDPositionController:

[legend]Collaboration diagram for robot::control::ManipulatorPIDPositionController:

[legend]List of all members.

Public Member Functions
	ManipulatorPIDPositionController (const robot::KinematicChain &chain)
	ManipulatorPIDPositionController (const ManipulatorPIDPositionController &c)
virtual String	className () const
virtual Object &	clone () const
virtual void	setControlInterface (ref< ControlInterface > controlInterface)
virtual bool	isConnected () const
virtual bool	iterate (const base::Time &time)
virtual ref< ControlInterface >	getControlInterface (String interfaceName="") throw (std::invalid_argument)
	Provide ControlInterface for named interface (or default/possibly-only interface).
void	setCoeffs (Real Kp, Real Ki=0, Real Kd=0)
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Protected Attributes
robot::KinematicChain	chain
	kinematic chain of the manipulator we're controlling
ref< robot::ControlInterface >	manipInterface
	interface for joint control of manipulator
ref< PositionInterface >	positionInterface
	interface we return for joint position control
Int	lastInputSize
	size of input on previous iteration
Int	lastOutputSize
	size of output on previous iteration
Real	Kp
Real	Ki
Real	Kd
Vector	R
Vector	pe
Vector	s
int	_refCount
bool	onUnreferenceEnabled

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Detailed Description

Controls the inputs of a Robot's serial manipulator to maintain a reference position.

Requires the following ControlInterface (:type)

:JointVelocityControl

• outputs control manipulator joint velocity and corresponding inputs give joint position

Provides the following ControlInterface (name:type)

manipulatorPosition:JointPositionControl

• outputs control the position of a maniulators joints (angle for revolute joints and extension for prismatic joints)

Todo:

later this should be changed to require :JointForceControl instead.

Definition at line 56 of file ManipulatorPIDPositionController.

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Constructor & Destructor Documentation

robot::control::ManipulatorPIDPositionController::ManipulatorPIDPositionController (  const robot::KinematicChain &  chain  )

Referenced by clone().

robot::control::ManipulatorPIDPositionController::ManipulatorPIDPositionController (  const ManipulatorPIDPositionController &  c  )  [inline]

Definition at line 60 of file ManipulatorPIDPositionController. References manipInterface, and positionInterface.

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Member Function Documentation

virtual String robot::control::ManipulatorPIDPositionController::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Definition at line 64 of file ManipulatorPIDPositionController.

virtual Object& robot::control::ManipulatorPIDPositionController::clone (   )  const [inline, virtual]

Definition at line 65 of file ManipulatorPIDPositionController. References ManipulatorPIDPositionController(), and NewObj.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

virtual ref<ControlInterface> robot::control::ManipulatorPIDPositionController::getControlInterface (  String  interfaceName = ""  )  throw (std::invalid_argument) [virtual]

Provide ControlInterface for named interface (or default/possibly-only interface). Exceptions: std::invalid_argument  if the specified interface name is unknown. Implements robot::Controllable.

virtual bool robot::control::ManipulatorPIDPositionController::isConnected (   )  const [virtual]

Query if the Controller has been passed all the ControlInterfaces it needs via setControlInterface() Reimplemented from robot::Controller.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

virtual bool robot::control::ManipulatorPIDPositionController::iterate (  const base::Time &  time  )  [virtual]

Execute an iteration of the control loop. returns true if it wants to quit the loop - however this may be ignored by the user/caller. Implements robot::Controller.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void robot::control::ManipulatorPIDPositionController::setCoeffs (  Real  Kp, Real  Ki = 0, Real  Kd = 0 )  [inline]

Definition at line 77 of file ManipulatorPIDPositionController.

virtual void robot::control::ManipulatorPIDPositionController::setControlInterface (  ref< ControlInterface >  controlInterface  )  [virtual]

Provide ControlInterface through which Controller may control. Can be called multiple times to pass multiple ControlInterfaces. Unknown ControlInterface types will be ignored. Implements robot::Controller.

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

robot::KinematicChain robot::control::ManipulatorPIDPositionController::chain [protected]

kinematic chain of the manipulator we're controlling Definition at line 108 of file ManipulatorPIDPositionController.

Real robot::control::ManipulatorPIDPositionController::Kd [protected]

Definition at line 118 of file ManipulatorPIDPositionController.

Real robot::control::ManipulatorPIDPositionController::Ki [protected]

Definition at line 117 of file ManipulatorPIDPositionController.

Real robot::control::ManipulatorPIDPositionController::Kp [protected]

Definition at line 116 of file ManipulatorPIDPositionController.

Int robot::control::ManipulatorPIDPositionController::lastInputSize [protected]

size of input on previous iteration Definition at line 113 of file ManipulatorPIDPositionController.

Int robot::control::ManipulatorPIDPositionController::lastOutputSize [protected]

size of output on previous iteration Definition at line 114 of file ManipulatorPIDPositionController.

ref<robot::ControlInterface> robot::control::ManipulatorPIDPositionController::manipInterface [protected]

interface for joint control of manipulator Definition at line 110 of file ManipulatorPIDPositionController. Referenced by ManipulatorPIDPositionController().

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

Vector robot::control::ManipulatorPIDPositionController::pe [protected]

Definition at line 121 of file ManipulatorPIDPositionController.

ref<PositionInterface> robot::control::ManipulatorPIDPositionController::positionInterface [protected]

interface we return for joint position control Definition at line 111 of file ManipulatorPIDPositionController. Referenced by ManipulatorPIDPositionController().

Vector robot::control::ManipulatorPIDPositionController::R [protected]

Definition at line 120 of file ManipulatorPIDPositionController.

Vector robot::control::ManipulatorPIDPositionController::s [protected]

Definition at line 122 of file ManipulatorPIDPositionController.

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

• robot/control/ManipulatorPIDPositionController

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