ProportionalController Class Reference
Implements a prorportional controller. Used to compute a velocity to assign to a specified joint in order to get a specified joint position. Usesers can set the proportional konstant (k) as well as the maximum velocity (maxvel) More...
Public Member Functions | |
| double | getK () const |
| double | getMaxVelocity () |
| void | setControlParameters (double k=-1.0f, double maxvel=-1.0f) |
| void | setK (double k) |
| void | setMaxVelocity (double maxVel) |
| double | velocityForJoint (double desired, double current) |
Protected Attributes | |
| double | m_k |
| The maximum allowed velocity. | |
| double | m_maxvel |
Detailed Description
Implements a prorportional controller. Used to compute a velocity to assign to a specified joint in order to get a specified joint position. Usesers can set the proportional konstant (k) as well as the maximum velocity (maxvel)
Member Data Documentation
The documentation for this class was generated from the following files:
- experiments/include/motors.h
- experiments/src/motors.cpp