dynamicgraph::sot::ControlPD Class Reference

#include <sot/core/control-pd.hh>

Inheritance diagram for dynamicgraph::sot::ControlPD:

List of all members.

Public Member Functions
	ControlPD (const std::string &name)
void	init (const double &step)
virtual void	display (std::ostream &os) const
virtual const std::string &	getClassName (void) const
Public Attributes
SignalPtr< ml::Vector, int >	KpSIN
SignalPtr< ml::Vector, int >	KdSIN
SignalPtr< ml::Vector, int >	positionSIN
SignalPtr< ml::Vector, int >	desiredpositionSIN
SignalPtr< ml::Vector, int >	velocitySIN
SignalPtr< ml::Vector, int >	desiredvelocitySIN
SignalTimeDependent < ml::Vector, int >	controlSOUT
Static Public Attributes
static const double	TIME_STEP_DEFAULT
static const std::string	CLASS_NAME
Protected Member Functions
double &	setsize (int dimension)
ml::Vector &	computeControl (ml::Vector &tau, int t)
Protected Attributes
double	TimeStep
double	_dimension

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Constructor & Destructor Documentation

dynamicgraph::sot::ControlPD::ControlPD

(

const std::string &

name

)

---

Member Function Documentation

ml::Vector& dynamicgraph::sot::ControlPD::computeControl	(	ml::Vector &	tau,
		int	t
	)		[protected]

virtual void dynamicgraph::sot::ControlPD::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::ControlPD::getClassName

(

void

)

const [inline, virtual]

Implements dynamicgraph::Entity.

void dynamicgraph::sot::ControlPD::init

(

const double &

step

)

double& dynamicgraph::sot::ControlPD::setsize

(

int

dimension

)

[protected]

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Member Data Documentation

double dynamicgraph::sot::ControlPD::_dimension [protected]

const std::string dynamicgraph::sot::ControlPD::CLASS_NAME [static]

SignalTimeDependent<ml::Vector,int> dynamicgraph::sot::ControlPD::controlSOUT

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::desiredpositionSIN

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::desiredvelocitySIN

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::KdSIN

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::KpSIN

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::positionSIN

const double dynamicgraph::sot::ControlPD::TIME_STEP_DEFAULT [static]

double dynamicgraph::sot::ControlPD::TimeStep [protected]

SignalPtr<ml::Vector,int> dynamicgraph::sot::ControlPD::velocitySIN