This class implements a TaskContext that reads out the output acceleration dataports OCl::nAxesController and puts these output values in the driveValue dataports of an nAxesTorqueController. More...
#include <Kuka361nAxesAccelerationController.hpp>
Public Member Functions | |
| Kuka361nAxesAccelerationController (const std::string &name) | |
| The contructor of the class. | |
| virtual bool | configureHook () |
| virtual bool | startHook () |
| virtual void | updateHook () |
| virtual void | stopHook () |
| virtual void | cleanupHook () |
Protected Attributes | |
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RTT::DataPort< std::vector < double > > | q_meas_Port |
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RTT::DataPort< std::vector < double > > | qdot_meas_Port |
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RTT::DataPort< std::vector < double > > | qdot_des_Port |
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RTT::DataPort< std::vector < double > > | q_con_Port |
| RTT::WriteDataPort< bool > | saturationPort |
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RTT::WriteDataPort < std::vector< double > > | drives |
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RTT::ReadDataPort< std::vector < double > > | torque_meas_Port |
| std::vector< double > | torque_meas_local |
| RTT::Property< double > | dqm |
| Parameter for sign function of kuka361InvDynnf. | |
| RTT::Property< bool > | UseDesVel |
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RTT::Property< std::vector < double > > | torque_offset |
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RTT::Property< std::vector < double > > | torque_scale |
| RTT::Property< double > | Ts |
This class implements a TaskContext that reads out the output acceleration dataports OCl::nAxesController and puts these output values in the driveValue dataports of an nAxesTorqueController.
Definition at line 44 of file Kuka361nAxesAccelerationController.hpp.
| Kuka361nAxesAccelerationController | ( | const std::string & | name | ) |
The contructor of the class.
| name | name of the Taskcontext |
Definition at line 35 of file Kuka361nAxesAccelerationController.cpp.
References Kuka361nAxesAccelerationController::dqm.
1.6.3