ProportionalController Class Reference

Implements a prorportional controller. More...

Public Member Functions
	ProportionalController ()
	Constructor.
	ProportionalController (double k, double maxVelocity)
	Constructor.
	ProportionalController (const ProportionalController &other)
	Copy constructor.
	~ProportionalController ()
	Destructor.
real	getK () const
	Returns the value of the gain.
real	getMaxVelocity () const
	Returns the maximum velocity.
ProportionalController &	operator= (const ProportionalController &other)
	Copy operator.
void	setK (double k)
	Sets the value of the gain.
void	setMaxVelocity (double maxVelocity)
	Sets the maximum velocity.
real	velocityForJoint (real desired, real current) const
	Returns the velocity to apply to a joint to reach the desired position.

Protected Attributes
real	m_k
	The gain of the controller.
real	m_maxVelocity
	The maximum allowed velocity.

Detailed Description

Implements a prorportional controller.

This class implements a simple proportional controller. It has two parameters: the gain of the controller k and the absolute value of the maximum allowed velocity. It is used to get a velocity to apply to a joint to reach a desired position

Definition at line 158 of file motors.h.

Constructor & Destructor Documentation

ProportionalController

(

)

Constructor.

The parameters are set to default values:

• k = 0.3
• maxVelocity = 20.0

Definition at line 123 of file motors.cpp.

ProportionalController	(	double	k,
		double	maxVelocity
	)

Constructor.

Parameters

k	the value of the gain of the controller
maxVelocity	the value of the maximum velocity parameter

Definition at line 129 of file motors.cpp.

ProportionalController

(

const ProportionalController &

other

)

Copy constructor.

Parameters

other

the object to copy

Definition at line 135 of file motors.cpp.

~ProportionalController

(

)

Destructor.

Definition at line 153 of file motors.cpp.

Member Function Documentation

real getK ( ) const

inline

Returns the value of the gain.

Returns

the value of the gain

Definition at line 203 of file motors.h.

Referenced by iCubPosToVelMotor::getK().

real getMaxVelocity ( ) const

inline

Returns the maximum velocity.

Returns

the maximum velocity

Definition at line 223 of file motors.h.

ProportionalController & operator=

(

const ProportionalController &

other

)

Copy operator.

Parameters

other

the object to copy

Returns

a reference to this

Definition at line 141 of file motors.cpp.

References ProportionalController::m_k, and ProportionalController::m_maxVelocity.

void setK ( double  k )

inline

Sets the value of the gain.

Parameters

k	the new value of the gain

Definition at line 213 of file motors.h.

void setMaxVelocity ( double  maxVelocity )

inline

Sets the maximum velocity.

Parameters

maxVelocity

the new maximum velocity

Definition at line 233 of file motors.h.

real velocityForJoint	(	real	desired,
		real	current
	)		const

Returns the velocity to apply to a joint to reach the desired position.

Parameters

desired	the desired position of the joint
current	the current position of the joint

Returns

the velocity to apply to the joint

Definition at line 158 of file motors.cpp.

References ProportionalController::m_k, and ProportionalController::m_maxVelocity.

Referenced by iCubTorsoPosToVelMotor::update().

Member Data Documentation

real m_k

protected

The gain of the controller.

Definition at line 252 of file motors.h.

Referenced by ProportionalController::operator=(), and ProportionalController::velocityForJoint().

real m_maxVelocity

protected

The maximum allowed velocity.

Definition at line 257 of file motors.h.

Referenced by ProportionalController::operator=(), and ProportionalController::velocityForJoint().

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

• experiments/include/motors.h
• experiments/src/motors.cpp