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2.10 The Computed_torque_method class

The Computed_torque_method class deals with the well known computed torque method position controller [8].

Constructor

Syntax
Computed_torque_method();  
Computed_torque_method(const Robot_basic & robot,  
                       const DiagonalMatrix & Kd, const DiagonalMatrix & Kp);  
Computed_torque_method(const Computed_torque_method & x);  
Computed_torque_method & operator=(const Computed_torque_method & x);

Description

Computed_torque_method object constructor, copy constructor and equal operator.

Return Value

None

torque_cmd

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

Description

This function sets the output torque for a desired joint position vector, qd, and a desired joint velocity vector, ˙qd.

Return Value

Matrix

Kd, Kp

Syntax
short set_Kp(const DiagonalMatrix & Kp);  
short set_Kd(const DiagonalMatrix & Kd);  

Description

These functions sets the joint position error gain matrix, Kp, and the joint velocity error gain matrix, Kd.

Return Value

Status, as a short int.

  1. 0 successful
  2. WRONG_SIZE (regarding the input vector)

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