nAxesControllerVel Class Reference
[The Joint Control Components]

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

#include <nAxesControllerVel.hpp>

Public Member Functions
	nAxesControllerVel (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::Method< void(void)>	reset_all_mtd
	Method to reset the controller of all axes.
RTT::Method< void(int)>	resetAxis_mtd
	Method to reset the controller of axis.
RTT::ReadDataPort< std::vector < double > >	p_m_port
	The measured positions.
RTT::ReadDataPort< std::vector < double > >	v_d_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.

Detailed Description

This component can control the velocities 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 desired position is calculated by integrating the desired velocity

The initial state of the component is PreOperational

Definition at line 46 of file nAxesControllerVel.hpp.

Constructor & Destructor Documentation

nAxesControllerVel ( std::string name )

Constructor of the class.

Parameters:

name

name of the TaskContext

Definition at line 31 of file nAxesControllerVel.cpp.

References nAxesControllerVel::gain_prop, nAxesControllerVel::num_axes_prop, nAxesControllerVel::p_m_port, nAxesControllerVel::reset_all_mtd, nAxesControllerVel::resetAxis_mtd, nAxesControllerVel::v_d_port, and nAxesControllerVel::v_out_port.

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 62 of file nAxesControllerVel.cpp.

References nAxesControllerVel::gain_prop, nAxesControllerVel::num_axes_prop, and nAxesControllerVel::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 89 of file nAxesControllerVel.cpp.

References nAxesControllerVel::p_m_port, and nAxesControllerVel::v_d_port.