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2.11 The Resolve_acc class

The Resolve_acc class deals with the resolve rate acceleration controller [15].

Constructor

Syntax
Resolved_acc();  
Resolved_acc(const Robot_basic & robot,  
             const double Kvp, const double Kpp,  
             const double Kvo, const double Kpo);  
Resolved_acc(const Resolved_acc & x);  
Resolved_acc & operator=(const Resolved_acc & x);

Description

Resolve_acc object constructor, copy constructor and equal operator.

Return Value

None

torque_cmd

Syntax
ReturnMatrix torque_cmd(Robot_basic & robot, const ColumnVector & pdpp,  
                        const ColumnVector & pdp, const ColumnVector & pd,  
                        const ColumnVector & wdp, const ColumnVector & wd,  
                        const Quaternion & qd, const short link_pc,  
                        const Real dt);

Description

This function sets the output torque for the following desired end effector vector: acceleration, velocity, position, angular acceleration, angular velocity and angular position.

Return Value

Matrix

Kpp, Kvp, Kpo, Kvo

Syntax
void set_Kpp(const double Kpp);  
void set_Kvp(const double Kvp);  
void set_Kpo(const double Kpo);  
void set_Kvo(const double Kvo);

Description

These functions sets the end effector position error gain, Kpp, the velocity error gain, Kvp, the orientation error gain Kpo, and the orientation angular rate gain, Kvo.

Return Value

None

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