10 #ifndef __SOT_Control_PD_HH__ 11 #define __SOT_Control_PD_HH__ 18 #include <dynamic-graph/linear-algebra.h> 21 #include <dynamic-graph/entity.h> 22 #include <dynamic-graph/signal-ptr.h> 23 #include <dynamic-graph/signal-time-dependent.h> 30 #if defined(control_pd_EXPORTS) 31 #define ControlPD_EXPORT __declspec(dllexport) 33 #define ControlPD_EXPORT __declspec(dllimport) 36 #define ControlPD_EXPORT 51 void init(
const double &step);
59 virtual void display(std::ostream &os)
const;
60 virtual const std::string &
getClassName(
void)
const {
return CLASS_NAME; }
68 SignalPtr<dynamicgraph::Vector, int>
KpSIN;
69 SignalPtr<dynamicgraph::Vector, int>
KdSIN;
79 dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau,
int t);
82 dynamicgraph::Vector &getPositionError(dynamicgraph::Vector &position_error,
84 dynamicgraph::Vector &getVelocityError(dynamicgraph::Vector &velocity_error,
91 #endif // #ifndef __SOT_Control_PD_HH__ double TimeStep
Definition: control-pd.hh:65
dynamicgraph::Vector velocity_error_
Definition: control-pd.hh:81
static const double TIME_STEP_DEFAULT
Definition: control-pd.hh:55
SignalTimeDependent< dynamicgraph::Vector, int > velocityErrorSOUT
Definition: control-pd.hh:76
SignalPtr< dynamicgraph::Vector, int > KpSIN
Definition: control-pd.hh:68
SignalPtr< dynamicgraph::Vector, int > desiredvelocitySIN
Definition: control-pd.hh:73
SignalPtr< dynamicgraph::Vector, int > desiredpositionSIN
Definition: control-pd.hh:71
Definition: control-pd.hh:46
#define ControlPD_EXPORT
Definition: control-pd.hh:36
SignalPtr< dynamicgraph::Vector, int > velocitySIN
Definition: control-pd.hh:72
SignalPtr< dynamicgraph::Vector, int > KdSIN
Definition: control-pd.hh:69
SignalTimeDependent< dynamicgraph::Vector, int > controlSOUT
Definition: control-pd.hh:74
SignalTimeDependent< dynamicgraph::Vector, int > positionErrorSOUT
Definition: control-pd.hh:75
static const std::string CLASS_NAME
Definition: control-pd.hh:58
dynamicgraph::Vector position_error_
Definition: control-pd.hh:80
virtual const std::string & getClassName(void) const
Definition: control-pd.hh:60
Definition: abstract-sot-external-interface.hh:17
SignalPtr< dynamicgraph::Vector, int > positionSIN
Definition: control-pd.hh:70