JointPD
This class defines a PD feedback control on the joint space. More...
Inheritance diagram for JointPD:
Public Member Functions | |
| JointPD (char name) | |
| The controller class constructor function. More... | |
| function colvec u = | calcControl (double t,colvec x,colvec vfc,colvec gfc,DynamicalSystem plant,struct params,SimLogger logger) |
| Computes the PD feedback control law on joint space. More... | |
 Public Member Functions inherited from Controller | |
| Controller (char name) | |
| The controller class constructor function. More... | |
| function obj = | setParamValue (struct varargin) |
| set the actual value of the controller parameters More... | |
| virtual function u = | calcControl (t, x, vfc, gfc, plant, params, logger) |
| calculate the control input More... | |
Additional Inherited Members | |
| Public Attributes inherited from Controller | |
| char | Name |
| The name of the controller. More... | |
| struct | Param |
| The parameters of the controller. More... | |
| Public Attributes inherited from handle | |
| addlistener | |
| Creates a listener for the specified event and assigns a callback function to execute when the event occurs. More... | |
| notify | |
| Broadcast a notice that a specific event is occurring on a specified handle object or array of handle objects. More... | |
| delete | |
| Handle object destructor method that is called when the object's lifecycle ends. More... | |
| disp | |
| Handle object disp method which is called by the display method. See the MATLAB disp function. More... | |
| display | |
| Handle object display method called when MATLAB software interprets an expression returning a handle object that is not terminated by a semicolon. See the MATLAB display function. More... | |
| findobj | |
| Finds objects matching the specified conditions from the input array of handle objects. More... | |
| findprop | |
| Returns a meta.property objects associated with the specified property name. More... | |
| fields | |
| Returns a cell array of string containing the names of public properties. More... | |
| fieldnames | |
| Returns a cell array of string containing the names of public properties. See the MATLAB fieldnames function. More... | |
| isvalid | |
| Returns a logical array in which elements are true if the corresponding elements in the input array are valid handles. This method is Sealed so you cannot override it in a handle subclass. More... | |
| eq | |
| Relational functions example. See details for more information. More... | |
| transpose | |
| Transposes the elements of the handle object array. More... | |
| permute | |
| Rearranges the dimensions of the handle object array. See the MATLAB permute function. More... | |
| reshape | |
| hanges the dimensions of the handle object array to the specified dimensions. See the MATLAB reshape function. More... | |
| sort | |
| ort the handle objects in any array in ascending or descending order. More... | |
Detailed Description
This class defines a PD feedback control on the joint space.
- Date
- 2016-10-14
Copyright (c) 2016, AMBER Lab All right reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted only in compliance with the BSD 3-Clause license, see http://www.opensource.org/licenses/bsd-license.php
Constructor & Destructor Documentation
◆ JointPD()
|
inline |
The controller class constructor function.
- Parameters
-
name the controller name
Member Function Documentation
◆ calcControl()
|
inline |
Computes the PD feedback control law on joint space.
- Parameters
-
t the time instant x the states vfc the vector field f(x) gfc the vector field g(x) plant the continuous domain params the control parameters logger the data logger object
- Return values
-
u the computed torque
- Required fields of logger:
The documentation for this class was generated from the following file:
- /home/ayonga/.dropboxes/business/Dropbox/research/dzopt/frost/matlab/control/JointPD.m