Select controller class. More...

#include <control_select.h>

Public Member Functions
	Control_Select ()
	Constructor.

	Control_Select (const std::string &filename)

int	get_dof ()
	Return the degree of freedom.

void	set_control (const std::string &filename)
	Select the proper controller from filename.

Public Attributes
Proportional_Derivative	pd

Computed_torque_method	ctm

Resolved_acc	rra

Impedance	impedance

short	type
	Type of controller: PD, CTM,...

short	space_type
	JOINT_SPACE or CARTESIAN_SPACE.

std::string	ControllerName
	Controller name.

Private Attributes
int	dof
	Degree of freedom.

Detailed Description

Select controller class.

This class contains an instance of each controller class. The active controller will be selected when reading a controller file. "type" value correspond to the active controller, ex:

type = NONE : no controller selected
type = PD : Proportional Derivative
type = CTM : Computer Torque Method
type = RRA : Resolved Rate Acceleration
type = IMP : Impedance

Bellow is an exemple of RRA configuration file (more info on configuration file in config.h/cpp):

  [CONTROLLER]

  type:   RESOLVED_RATE_ACCELERATION
  dof:    6

  [GAINS]

  Kvp:         500.0
  Kpp:        5000.0
  Kvo:         500.0
  Kpo:        5000.0

Definition at line 96 of file control_select.h.

Public Member Functions

Public Attributes

Private Attributes

Detailed Description