Experiments - 1.2.0

Utilities Configuration GA
NNFW WorldSim Total 99% Experiments
Public Member Functions | Protected Attributes | List of all members
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)

Definition at line 76 of file motors.h.

Member Data Documentation

double m_k
protected

The maximum allowed velocity.

Definition at line 90 of file motors.h.

The documentation for this class was generated from the following files: