taoControlJt Class Reference
[Control]

Joint space control class

This provides a joint space dynamics controller. More...

#include <taoControlJt.h>

Inheritance diagram for taoControlJt:

[legend]Collaboration diagram for taoControlJt:

[legend]List of all members.

Public Member Functions
	taoControlJt (taoNodeRoot *root)
virtual	~taoControlJt ()
virtual void	deleteParamTree (taoDNode *node)
virtual deFloat	time ()
virtual void	reset (deFloat time)
virtual void	control (deFloat time)
virtual void	setGoalPosition (taoDNode *node, deFrame *F, deFloat timestamp)
	This methode extracts out and sets appropriate joint goal position exiting in node.
virtual taoControlJt *	getControlJt ()
virtual taoJCParam *	createJCParam (taoJoint *joint)
virtual void	jointForceTree (taoDNode *node)
virtual void	zeroTorqueControlOffTree (taoDNode *node)
void	resetParamTree (taoDNode *node)
taoNodeRoot *	root ()
taoJCParam *	jcpGlobal ()
	special taoJCParam for the global control parameters
deInt &	doDynamicControl ()
	turns dynamics control on/off
deInt &	includeG ()
	turns gravity compensation on/off
taoControlType &	controlLawType ()
	control law type such as PD law

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Detailed Description

Joint space control class

This provides a joint space dynamics controller.

See also:

taoJCParam

Note:

for example, setting _jcp->_kp will change the global position gain.

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Constructor & Destructor Documentation

taoControlJt::taoControlJt (  taoNodeRoot *  root  )

Remarks: root->setController(this) is called internally.

taoControlJt::~taoControlJt (   )  [virtual]

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Member Function Documentation

void taoControlJt::control (  deFloat  time  )  [virtual]

Implements taoControl.

taoControlType& taoControlJt::controlLawType (   )  [inline]

control law type such as PD law

taoJCParam * taoControlJt::createJCParam (  taoJoint *  joint  )  [virtual]

void taoControlJt::deleteParamTree (  taoDNode *  node  )  [virtual]

Implements taoControl.

deInt& taoControlJt::doDynamicControl (   )  [inline]

turns dynamics control on/off

virtual taoControlJt* taoControlJt::getControlJt (   )  [inline, virtual]

Implements taoControl.

deInt& taoControlJt::includeG (   )  [inline]

turns gravity compensation on/off

taoJCParam* taoControlJt::jcpGlobal (   )  [inline]

special taoJCParam for the global control parameters

void taoControlJt::jointForceTree (  taoDNode *  node  )  [virtual]

void taoControlJt::reset (  deFloat  time  )  [virtual]

Implements taoControl.

void taoControlJt::resetParamTree (  taoDNode *  node  )

taoNodeRoot* taoControlJt::root (   )  [inline]

void taoControlJt::setGoalPosition (  taoDNode *  node, deFrame *  F, deFloat  timestamp )  [virtual]

This methode extracts out and sets appropriate joint goal position exiting in node. As an example, if node has only a spherical joint, translational part of F will not be used. Implements taoControl.

virtual deFloat taoControlJt::time (   )  [inline, virtual]

Returns: last time control() is called. Implements taoControl.

void taoControlJt::zeroTorqueControlOffTree (  taoDNode *  node  )  [virtual]

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

• taoControlJt.h
• taoControlJt.cpp

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