nAxesControllerPosVelAcc Class Reference
[The Joint Control Components]

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

#include <nAxesControllerPosVelAcc.hpp>

List of all members.

Public Member Functions
	nAxesControllerPosVelAcc (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_m_port
	The measured velocities.
RTT::DataPort< std::vector < double > >	p_d_port
	The desired positions.
RTT::DataPort< std::vector < double > >	v_d_port
	The desired velocities.
RTT::DataPort< std::vector < double > >	a_d_port
	The calculated desired accelerations.
RTT::WriteDataPort < std::vector< double > >	a_out_port
	The calculated output accelerations.
RTT::Property< std::vector < double > >	Kp_prop
	The position control gain value for each axis.
RTT::Property< std::vector < double > >	Kv_prop
	The velocity control gain value for each axis.
RTT::Property< unsigned int >	num_axes_prop
	The number of axes to configure the components with.
RTT::Property< bool >	use_ad
	False if no desired acceleration/velocity/position available;.
RTT::Property< bool >	use_vd
RTT::Property< bool >	use_pd
RTT::Property< bool >	avoid_drift
	If no desired position/velocity available integrate velocity/acceleration if true.
RTT::Property< bool >	differentiate
	If no desired acceleration/velocity available differentiate velocity/position if true.

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Detailed Description

This component can control the accelerations of multiple axes.

It uses a simple position- and velocity-feedback and acceleration feedforward to calculate an output acceleration from a desired velocity and measured position, velocity. acceleration_out = Kp * ( position_desired - position_measured) + Kv(velocity_desired- velocity_measured) + acceleration_desired. The desired position is calculated by integrating the desired velocity, the desired acceleration by differentiation of the desired velocity

The initial state of the component is PreOperational

Definition at line 46 of file nAxesControllerPosVelAcc.hpp.

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Constructor & Destructor Documentation

nAxesControllerPosVelAcc

(

std::string

name

)

Constructor of the class.

Parameters:

name

name of the TaskContext

Definition at line 29 of file nAxesControllerPosVelAcc.cpp.

References nAxesControllerPosVelAcc::a_d_port, nAxesControllerPosVelAcc::a_out_port, nAxesControllerPosVelAcc::avoid_drift, nAxesControllerPosVelAcc::differentiate, nAxesControllerPosVelAcc::Kp_prop, nAxesControllerPosVelAcc::num_axes_prop, nAxesControllerPosVelAcc::p_d_port, nAxesControllerPosVelAcc::p_m_port, nAxesControllerPosVelAcc::reset_all_mtd, nAxesControllerPosVelAcc::resetAxis_mtd, nAxesControllerPosVelAcc::use_ad, nAxesControllerPosVelAcc::v_d_port, and nAxesControllerPosVelAcc::v_m_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 78 of file nAxesControllerPosVelAcc.cpp.

References nAxesControllerPosVelAcc::a_out_port, nAxesControllerPosVelAcc::Kp_prop, and nAxesControllerPosVelAcc::num_axes_prop.

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 123 of file nAxesControllerPosVelAcc.cpp.

References nAxesControllerPosVelAcc::Kp_prop, nAxesControllerPosVelAcc::p_m_port, and nAxesControllerPosVelAcc::v_m_port.

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Member Data Documentation

RTT::Method<void(int)> resetAxis_mtd [protected]

Method to reset the controller of axis.

Parameters:

axis

axis controller to be reset

Definition at line 99 of file nAxesControllerPosVelAcc.hpp.

Referenced by nAxesControllerPosVelAcc::nAxesControllerPosVelAcc().

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

• nAxesControllerPosVelAcc.hpp
• nAxesControllerPosVelAcc.cpp