JointTrajectoryController Class Reference

Joint Trajectory Controller. More...

#include <JointTrajectoryController.hpp>

Public Member Functions
	JointTrajectoryController ()
virtual	~JointTrajectoryController ()
void	getConfigurationParameter (double &PParameter, double &IParameter, double &DParameter, double &IClippingMax, double &IClippingMin)
void	setConfigurationParameter (const double PParameter, const double IParameter, const double DParameter, const double IClippingMax, const double IClippingMin)
void	setTrajectory (const JointTrajectory &input_traj)
void	cancelCurrentTrajectory ()
bool	isTrajectoryControllerActive ()
bool	updateTrajectoryController (const SlaveMessageInput &actual, SlaveMessageOutput &velocity)
void	getLastTargetPosition (JointAngleSetpoint &position)
void	getLastTargetVelocity (JointVelocitySetpoint &velocity)
void	setGearRatio (const double &ratio)
void	setEncoderTicksPerRound (const int &encoderTicks)
void	setInverseMovementDirection (const bool invDirection)

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Detailed Description

Joint Trajectory Controller.

Definition at line 93 of file JointTrajectoryController.hpp.

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Constructor & Destructor Documentation

JointTrajectoryController

(

)

Definition at line 54 of file JointTrajectoryController.cpp.

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~JointTrajectoryController

(

)

[virtual]

Definition at line 81 of file JointTrajectoryController.cpp.

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Member Function Documentation

void cancelCurrentTrajectory

(

)

Definition at line 251 of file JointTrajectoryController.cpp.

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void getConfigurationParameter	(	double &	PParameter,
		double &	IParameter,
		double &	DParameter,
		double &	IClippingMax,
		double &	IClippingMin
	)

Definition at line 86 of file JointTrajectoryController.cpp.

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void getLastTargetPosition

(

JointAngleSetpoint &

position

)

Definition at line 337 of file JointTrajectoryController.cpp.

void getLastTargetVelocity

(

JointVelocitySetpoint &

velocity

)

Definition at line 343 of file JointTrajectoryController.cpp.

bool isTrajectoryControllerActive

(

)

Definition at line 262 of file JointTrajectoryController.cpp.

void setConfigurationParameter	(	const double	PParameter,
		const double	IParameter,
		const double	DParameter,
		const double	IClippingMax,
		const double	IClippingMin
	)

Definition at line 94 of file JointTrajectoryController.cpp.

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void setEncoderTicksPerRound

(

const int &

encoderTicks

)

[inline]

Definition at line 125 of file JointTrajectoryController.hpp.

void setGearRatio

(

const double &

ratio

)

[inline]

Definition at line 123 of file JointTrajectoryController.hpp.

void setInverseMovementDirection

(

const bool

invDirection

)

[inline]

Definition at line 127 of file JointTrajectoryController.hpp.

void setTrajectory

(

const JointTrajectory &

input_traj

)

Definition at line 102 of file JointTrajectoryController.cpp.

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bool updateTrajectoryController	(	const SlaveMessageInput &	actual,
		SlaveMessageOutput &	velocity
	)

Definition at line 266 of file JointTrajectoryController.cpp.

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

• JointTrajectoryController.hpp
• JointTrajectoryController.cpp