nAxesControllerPosVel Class Reference
[The Joint Control Components]

This component can control the positions of multiple axes. More...

#include <nAxesControllerPosVel.hpp>

List of all members.

Public Member Functions
	nAxesControllerPosVel (std::string name)
	Constructor of the class.
virtual bool	configureHook ()
	Configures the component, make sure the properties are updated using the OCL::DeploymentComponent or the marshalling interface of the component.
virtual bool	startHook ()
	Starts the component.
virtual void	updateHook ()
	Updates the output using the control equation, the measured and the desired position.
virtual void	stopHook ()
Protected Attributes
RTT::ReadDataPort< std::vector < double > >	p_meas_port
	The measured positions.
RTT::ReadDataPort< std::vector < double > >	p_desi_port
	The desired positions.
RTT::ReadDataPort< std::vector < double > >	v_desi_port
	The desired velocities.
RTT::WriteDataPort < std::vector< double > >	v_out_port
	The calculated output velocities.
RTT::Property< std::vector < double > >	gain_prop
	The control gain value for each axis.
RTT::Property< unsigned int >	num_axes_prop
	The number of axes to configure the components with.

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Detailed Description

This component can control the positions of multiple axes.

It uses a simple position-feedback and velocity feedforward to calculate an output velocity. velocity_out = K_gain * ( position_desired - position_measured) + velocity_desired.

The initial state of the component is PreOperational

Definition at line 45 of file nAxesControllerPosVel.hpp.

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Constructor & Destructor Documentation

nAxesControllerPosVel

(

std::string

name

)

Constructor of the class.

Parameters:

name

name of the TaskContext

Definition at line 33 of file nAxesControllerPosVel.cpp.

References nAxesControllerPosVel::gain_prop, nAxesControllerPosVel::num_axes_prop, nAxesControllerPosVel::p_desi_port, nAxesControllerPosVel::p_meas_port, nAxesControllerPosVel::v_desi_port, and nAxesControllerPosVel::v_out_port.

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Member Function Documentation

bool configureHook

(

)

[virtual]

Configures the component, make sure the properties are updated using the OCL::DeploymentComponent or the marshalling interface of the component.

The number of axes and the control gains are updated.

Returns:

false if the gains property does not match the number of axes, true otherwise

Definition at line 58 of file nAxesControllerPosVel.cpp.

References nAxesControllerPosVel::gain_prop, nAxesControllerPosVel::num_axes_prop, and nAxesControllerPosVel::v_out_port.

bool startHook

(

)

[virtual]

Starts the component.

Returns:

failes if the input-ports are not ready or the size of the input-ports does not match the number of axes this component is configured for.

Definition at line 83 of file nAxesControllerPosVel.cpp.

References nAxesControllerPosVel::p_desi_port, nAxesControllerPosVel::p_meas_port, and nAxesControllerPosVel::v_desi_port.

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

• nAxesControllerPosVel.hpp
• nAxesControllerPosVel.cpp