gcop::Point3dController Class Reference

#include <point3dcontroller.h>

Inheritance diagram for gcop::Point3dController:

Collaboration diagram for gcop::Point3dController:

List of all members.

Public Member Functions
	Point3dController (const Point3d &sys, Point3dState *xd=0, Vector3d *ad=0)
virtual bool	Set (Vector3d &u, double t, const Point3dState &x)
virtual	~Point3dController ()
Public Attributes
const Point3d &	sys
	point mass system
Point3dState *	xd
	desired state (origin by default)
Vector3d *	ad
	desired acceleration (zero by default)
Vector3d	Kp
	proportional terms (ones by default)
Vector3d	Kd
	derivative terms (ones by default)

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Detailed Description

Basic PD controller for a point-mass system in 3d

Author: Marin Kobilarov

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Constructor & Destructor Documentation

Point3dController::Point3dController	(	const Point3d &	sys,
		Point3dState *	xd = 0,
		Vector3d *	ad = 0
	)

Point3D PD controller

Parameters:

sys	multi-body system
xd	desired state (optional, set to origin by default)
ad	desired acceleration (optional, set to zero by default)

References Kd, and Kp.

Point3dController::~Point3dController

(

)

[virtual]

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Member Function Documentation

bool Point3dController::Set	(	Vector3d &	u,
		double	t,
		const Point3dState &	x
	)		[virtual]

Feedback controller of the form u = k(t, x)

Parameters:

u	controls
t	time
x	state

Returns:

true if arguments are valid, false if e.g. x is infeasible

Implements gcop::Controller< Point3dState, Vector3d >.

References ad, Kd, Kp, gcop::Point3dState::q, gcop::Point3dState::v, and xd.

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Member Data Documentation

Vector3d* gcop::Point3dController::ad

desired acceleration (zero by default)

Referenced by Set().

Vector3d gcop::Point3dController::Kd

derivative terms (ones by default)

Referenced by Point3dController(), and Set().

Vector3d gcop::Point3dController::Kp

proportional terms (ones by default)

Referenced by Point3dController(), and Set().

const Point3d& gcop::Point3dController::sys

point mass system

Point3dState* gcop::Point3dController::xd

desired state (origin by default)

Referenced by Set().

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

• lib/algos/point3dcontroller.h
• lib/algos/point3dcontroller.cc