JointPIDVelControl Class Reference

Widget to control joints via application of a velocity PID controller. More...

#include <JointControlWidget.hh>

Inherits QWidget.

Public Slots
void	OnChanged (double _value)
	Callback when the value of velocity slider changed.
void	OnDChanged (double _value)
	Callback when the value of D gain slider changed.
void	OnIChanged (double _value)
	Callback when the value of I gain slider changed.
void	OnPChanged (double _value)
	Callback when the value of P gain slider changed.

Signals
void	changed (double _value, const std::string &_name)
	QT changed signal, used to report the change to the joint controller widget.
void	dChanged (double _value, const std::string &_name)
	QT changed signal, used to report the change to the joint controller widget.
void	iChanged (double _value, const std::string &_name)
	QT changed signal, used to report the change to the joint controller widget.
void	pChanged (double _value, const std::string &_name)
	QT changed signal, used to report the change to the joint controller widget.

Public Member Functions
	JointPIDVelControl (const std::string &_name, QGridLayout *_layout, QWidget *_parent, int _index)
	Constructor.
virtual	~JointPIDVelControl ()
	Destructor.
void	Reset ()
	Reset the controls.
void	SetDGain (const double _dGain)
	Set the PID derivative gain.
void	SetIGain (const double _iGain)
	Set the PID integral gain.
void	SetPGain (const double _pGain)
	Set the PID proportional gain.
void	SetShowActive (const bool _active)
	Indicate whether controls are active by highlighting them.
void	SetVelocityTarget (const double _target)
	Set the PID target velocity.

Detailed Description

Widget to control joints via application of a velocity PID controller.

Constructor & Destructor Documentation

JointPIDVelControl()

JointPIDVelControl	(	const std::string &	_name,
		QGridLayout *	_layout,
		QWidget *	_parent,
		int	_index )

Constructor.

Parameters

[in]	_name	Name of the joint.
[in]	_layout	Layout to add the control to.
[in]	_parent	Parent of the widget.
[in]	_index	Row index into the grid layout.

~JointPIDVelControl()

virtual ~JointPIDVelControl ( )

virtual

Destructor.

Member Function Documentation

changed

void changed ( double _value, const std::string & _name )

signal

QT changed signal, used to report the change to the joint controller widget.

Parameters

[in]	_value	Value of the slider.
[in]	_name	Name of the joint.

dChanged

void dChanged ( double _value, const std::string & _name )

signal

QT changed signal, used to report the change to the joint controller widget.

Parameters

[in]	_value	Value of the slider.
[in]	_name	Name of the joint.

iChanged

void iChanged ( double _value, const std::string & _name )

signal

QT changed signal, used to report the change to the joint controller widget.

Parameters

[in]	_value	Value of the slider.
[in]	_name	Name of the joint.

OnChanged

void OnChanged ( double _value )

slot

Callback when the value of velocity slider changed.

Parameters

[in]

_value

Value of the slider.

OnDChanged

void OnDChanged ( double _value )

slot

Callback when the value of D gain slider changed.

Parameters

[in]

_value

Value of the slider.

OnIChanged

void OnIChanged ( double _value )

slot

Callback when the value of I gain slider changed.

Parameters

[in]

_value

Value of the slider.

OnPChanged

void OnPChanged ( double _value )

slot

Callback when the value of P gain slider changed.

Parameters

[in]

_value

Value of the slider.

pChanged

void pChanged ( double _value, const std::string & _name )

signal

QT changed signal, used to report the change to the joint controller widget.

Parameters

[in]	_value	Value of the slider.
[in]	_name	Name of the joint.

Reset()

void Reset

(

)

Reset the controls.

SetDGain()

void SetDGain

(

const double

_dGain

)

Set the PID derivative gain.

Parameters

[in]

_dGain

Derivative gain value.

SetIGain()

void SetIGain

(

const double

_iGain

)

Set the PID integral gain.

Parameters

[in]

_iGain

Integral gain value.

SetPGain()

void SetPGain

(

const double

_pGain

)

Set the PID proportional gain.

Parameters

[in]

_pGain

Proportional gain value.

SetShowActive()

void SetShowActive

(

const bool

_active

)

Indicate whether controls are active by highlighting them.

Parameters

[in]

_active

Whether the joint control is active or not.

SetVelocityTarget()

void SetVelocityTarget

(

const double

_target

)

Set the PID target velocity.

Parameters

[in]

_target

Target velocity.

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

• JointControlWidget.hh