JointController Class Reference

A class for manipulating physics::Joint. More...

#include <physics/physics.hh>

Public Member Functions
	JointController (ModelPtr _model)
	Constructor.
virtual	~JointController ()
	Destructor.
void	AddJoint (JointPtr _joint)
	Add a joint to control.
std::map< std::string, double >	GetForces () const
	Get all the applied forces.
std::map< std::string, JointPtr >	GetJoints () const
	Get all the joints.
common::Time	GetLastUpdateTime () const
	Get the last time the controller was updated.
std::map< std::string, common::PID >	GetPositionPIDs () const
	Get all the position PID controllers.
std::map< std::string, double >	GetPositions () const
	Get all the position PID set points.
std::map< std::string, double >	GetVelocities () const
	Get all the velocity PID set points.
std::map< std::string, common::PID >	GetVelocityPIDs () const
	Get all the velocity PID controllers.
void	RemoveJoint (Joint *_joint)
	Remove a joint from control.
void	Reset ()
	Reset all commands.
bool	SetForce (const std::string &_jointName, const double _force)
	Set the applied effort for the specified joint.
void	SetJointPosition (const std::string &_name, double _position, int _index=0)
	Set the positions of a Joint by name.
void	SetJointPosition (JointPtr _joint, double _position, int _index=0)
	Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc.
void	SetJointPositions (const std::map< std::string, double > &_jointPositions)
	Set the positions of a set of Joint's.
void	SetPositionPID (const std::string &_jointName, const common::PID &_pid)
	Set the position PID values for a joint.
bool	SetPositionTarget (const std::string &_jointName, const double _target)
	Set the target position for the position PID controller.
void	SetVelocityPID (const std::string &_jointName, const common::PID &_pid)
	Set the velocity PID values for a joint.
bool	SetVelocityTarget (const std::string &_jointName, const double _target)
	Set the target velocity for the velocity PID controller.
void	Update ()
	Update the joint control.

Detailed Description

A class for manipulating physics::Joint.

Constructor & Destructor Documentation

JointController()

JointController ( ModelPtr _model )

explicit

Constructor.

Parameters

[in]

_model

Model that uses this joint controller.

~JointController()

virtual ~JointController ( )

virtual

Destructor.

Member Function Documentation

AddJoint()

void AddJoint

(

JointPtr

_joint

)

Add a joint to control.

Parameters

[in]

_joint

Joint to control.

GetForces()

std::map< std::string, double > GetForces

(

)

const

Get all the applied forces.

Returns

A map<joint_name, force> that contains force values set by the user of the JointController.

GetJoints()

std::map< std::string, JointPtr > GetJoints

(

)

const

Get all the joints.

Returns

A map<joint_name, joint_ptr> to all the joints that can be controlled.

GetLastUpdateTime()

common::Time GetLastUpdateTime

(

)

const

Get the last time the controller was updated.

Returns

Last time the controller was updated.

GetPositionPIDs()

std::map< std::string, common::PID > GetPositionPIDs

(

)

const

Get all the position PID controllers.

Returns

A map<joint_name, PID> for all the position PID controllers.

GetPositions()

std::map< std::string, double > GetPositions

(

)

const

Get all the position PID set points.

Returns

A map<joint_name, position> that contains position values set by the user of the JointController.

GetVelocities()

std::map< std::string, double > GetVelocities

(

)

const

Get all the velocity PID set points.

Returns

A map<joint_name, position> that contains velocity values set by the user of the JointController.

GetVelocityPIDs()

std::map< std::string, common::PID > GetVelocityPIDs

(

)

const

Get all the velocity PID controllers.

Returns

A map<joint_name, PID> for all the velocity PID controllers.

RemoveJoint()

void RemoveJoint

(

Joint *

_joint

)

Remove a joint from control.

Parameters

[in]

_joint

Joint to remove.

Reset()

void Reset

(

)

Reset all commands.

SetForce()

bool SetForce	(	const std::string &	_jointName,
		const double	_force )

Set the applied effort for the specified joint.

This force will persist across time steps.

Parameters

[in]	_jointName	Scoped name of the joint.
[in]	_force	Force to apply.

Returns

False if the joint was not found.

SetJointPosition() [1/2]

void SetJointPosition	(	const std::string &	_name,
		double	_position,
		int	_index = 0 )

Set the positions of a Joint by name.

See also

JointController::SetJointPosition(JointPtr, double)

SetJointPosition() [2/2]

void SetJointPosition	(	JointPtr	_joint,
		double	_position,
		int	_index = 0 )

Set the positions of a Joint by name The position is specified in native units, which means, if you are using metric system, it's meters for SliderJoint and radians for HingeJoint, etc.

Implementation: In order to change the position of a Joint inside a Model, this call must recursively crawl through all the connected children Link's in this Model, and update each Link Pose affected by this Joint angle update. Warning: There is no constraint satisfaction being done here, traversal through the kinematic graph has unexpected behavior if you try to set the joint position of a link inside a loop structure. Warning:

Parameters

[in]	_joint	Joint to set.
[in]	_position	Position of the joint.

SetJointPositions()

void SetJointPositions

(

const std::map< std::string, double > &

_jointPositions

)

Set the positions of a set of Joint's.

See also

JointController::SetJointPosition(JointPtr, double)

SetPositionPID()

void SetPositionPID	(	const std::string &	_jointName,
		const common::PID &	_pid )

Set the position PID values for a joint.

Parameters

[in]	_jointName	Scoped name of the joint.
[in]	_pid	New position PID controller.

SetPositionTarget()

bool SetPositionTarget	(	const std::string &	_jointName,
		const double	_target )

Set the target position for the position PID controller.

Parameters

[in]	_jointName	Scoped name of the joint.
[in]	_target	Position target.

Returns

False if the joint was not found.

SetVelocityPID()

void SetVelocityPID	(	const std::string &	_jointName,
		const common::PID &	_pid )

Set the velocity PID values for a joint.

Parameters

[in]	_jointName	Scoped name of the joint.
[in]	_pid	New velocity PID controller.

SetVelocityTarget()

bool SetVelocityTarget	(	const std::string &	_jointName,
		const double	_target )

Set the target velocity for the velocity PID controller.

Parameters

[in]	_jointName	Scoped name of the joint.
[in]	_target	Velocity target.

Returns

False if the joint was not found.

Update()

void Update

(

)

Update the joint control.

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

• JointController.hh