tgImpedanceController Class Reference

#include <tgImpedanceController.h>

Public Member Functions
	tgImpedanceController ()
	Constructors. More...
	tgImpedanceController (double offsetTension, double lengthStiffness, double velStiffness)
double	control (tgBasicController &mLocalController, double deltaTimeSeconds, double newPosition, double offsetVel=0)
	Control Functions. More...
double	controlTension (tgBasicController &mLocalController, double deltaTimeSeconds, double newPosition, double offsetTension, double offsetVel=0)
double	control (tgBasicActuator &mLocalController, double deltaTimeSeconds, double newPosition, double offsetVel=0)
double	controlTension (tgBasicActuator &mLocalController, double deltaTimeSeconds, double newPosition, double offsetTension, double offsetVel=0)
void	setOffsetTension (double offsetTension)
void	setLengthStiffness (double lengthStiffness)
void	setVelStiffness (double velStiffness)
double	getOffsetTension () const
double	getLengthStiffness () const
double	getVelStiffness () const

Protected Attributes
double	m_offsetTension
double	m_lengthStiffness
double	m_velStiffness

Detailed Description

Influences the spring-cable actuator tension using length and velocity.

Definition at line 34 of file tgImpedanceController.h.

Constructor & Destructor Documentation

tgImpedanceController::tgImpedanceController

(

)

Constructors.

The null constructor sets defaults values for the member variables.

Definition at line 55 of file tgImpedanceController.cpp.

tgImpedanceController::tgImpedanceController	(	double	offsetTension,
		double	lengthStiffness,
		double	velStiffness
	)

This constructor supplies initial values for all member variables.

Parameters

[in]	offsetTension	the initial value for the offset tension property; must be non-negative
[in]	lengthStiffness	the initial value for the length stiffness property; must be non-negative
[in]	velStiffness	the initial value for the velocity stiffness property; must be non-negative

Definition at line 67 of file tgImpedanceController.cpp.

Member Function Documentation

double tgImpedanceController::control	(	tgBasicController &	mLocalController,
		double	deltaTimeSeconds,
		double	newPosition,
		double	offsetVel = 0
	)

Control Functions.

Parameters

[in]	Control	a tgBasicActuator given a new offset force and a new offset velocity.
[in]	mString	a pointer to a tgBasicActuator; must not be NULL
[in]	deltaTimeSeconds	the number of seconds since the last call
[in]	newPosition	the current position of the Muscle

Todo:

should we add an offset position so it can just control??

Definition at line 106 of file tgImpedanceController.cpp.

double tgImpedanceController::control	(	tgBasicActuator &	mLocalController,
		double	deltaTimeSeconds,
		double	newPosition,
		double	offsetVel = 0
	)

For those who control on tension without PID

Definition at line 152 of file tgImpedanceController.cpp.

double tgImpedanceController::getLengthStiffness ( ) const

inline

Return the value of the length stiffness property.

Returns

the value of the length stiffness property

Definition at line 129 of file tgImpedanceController.h.

double tgImpedanceController::getOffsetTension ( ) const

inline

Return the value of the offset tension property.

Returns

the value of the offset tension property

Definition at line 120 of file tgImpedanceController.h.

double tgImpedanceController::getVelStiffness ( ) const

inline

Return the value of the velocity stiffness property.

Returns

the value of the velocity stiffness property

Definition at line 138 of file tgImpedanceController.h.

void tgImpedanceController::setLengthStiffness

(

double

lengthStiffness

)

Set the value of the length stiffness property.

Parameters

[in]

the

new value for the length stiffness property must be non-negative

Definition at line 199 of file tgImpedanceController.cpp.

void tgImpedanceController::setOffsetTension

(

double

offsetTension

)

Set the value of the offset tension property.

Parameters

[in]

the

new value for the offset tension property must be non-negative

Definition at line 187 of file tgImpedanceController.cpp.

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void tgImpedanceController::setVelStiffness

(

double

velStiffness

)

Set the value of the velocity stiffness property.

Parameters

[in]

the

new value for the velocity stiffness property must be non-negative

Definition at line 211 of file tgImpedanceController.cpp.

Member Data Documentation

double tgImpedanceController::m_lengthStiffness

protected

Used to determine the force component attributable to a Muscle's length. Must be non-negative to ensure stability. The units are kg/sec^2. When multiplied by the cable length it gives a force component.

Definition at line 160 of file tgImpedanceController.h.

double tgImpedanceController::m_offsetTension

protected

A force component. Must be non-negative to ensure stability. The units are application-dependent, e.g., Newtons or centinewtons.

Definition at line 151 of file tgImpedanceController.h.

double tgImpedanceController::m_velStiffness

protected

Used to determine the force component attributable to a Muscle's velocity. The units are kg/sec. When multiplied by the cable velocity it gives a force component. Must be non-negative to ensure stability

Definition at line 169 of file tgImpedanceController.h.

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

• controllers/tgImpedanceController.h
• controllers/tgImpedanceController.cpp