taoJCParam Class Reference
[Control]

Base joint control parameter class

This provides control parameters for joint space dynamics controller. More...

#include <taoControlJt.h>

Inheritance diagram for taoJCParam:

[legend]Collaboration diagram for taoJCParam:

[legend]List of all members.

Public Member Functions
	taoJCParam (taoJoint *joint)
taoDVar *	getDVar ()
virtual void	reset (deFloat time)
virtual void	moveGoal2Old ()
virtual void	PDLaw (taoJCParam *jcpRoot, deFloat s, deFloat periodInv)
virtual void	ZeroLaw ()
virtual void	addJointLimitSoft ()
virtual void	setGoalPosition (deFrame *goal)
deInt &	controlOn ()
	turns joint control on/off
deInt &	useGlobalGains ()
	turns using global joint position/velocity gains
deInt &	goalVelocityAuto ()
	turns using global joint position/velocity gains
deInt &	jtLimitSoftOn ()
	turns soft joint limit on/off
deFloat &	jlU ()
	upper joint limit
deFloat &	jlL ()
	lower joint limit
deFloat &	kpU ()
	upper joint limit position gain
deFloat &	kvU ()
	upper joint limit velocity gain
deFloat &	kpL ()
	lower joint limit position gain
deFloat &	kvL ()
	lower joint limit velocity gain
deFloat &	kp ()
	joint position gain
deFloat &	kv ()
Protected Attributes
deInt	_controlOn
	turns joint control on/off
deInt	_useGlobalGains
	turns using global joint position/velocity gains
deInt	_goalVelocityAuto
	turns using global joint position/velocity gains
deInt	_jtLimitSoftOn
	turns soft joint limit on/off
deFloat	_jlU
	upper joint limit
deFloat	_jlL
	lower joint limit
deFloat	_kpU
	upper joint limit position gain
deFloat	_kvU
	upper joint limit velocity gain
deFloat	_kpL
	lower joint limit position gain
deFloat	_kvL
	lower joint limit velocity gain
deFloat	_kp
	joint position gain
deFloat	_kv
	joint velocity gain
taoJoint *	_joint
deFloat	_tg
deFloat	_tgo
Friends
class	taoControlJt

---

Detailed Description

Base joint control parameter class

This provides control parameters for joint space dynamics controller.

See also:

taoControlJt

---

Constructor & Destructor Documentation

taoJCParam::taoJCParam (  taoJoint *  joint  )  [inline]

---

Member Function Documentation

virtual void taoJCParam::addJointLimitSoft (   )  [inline, virtual]

Reimplemented in taoJCParamSpherical, and taoJCParamDOF1.

deInt& taoJCParam::controlOn (   )  [inline]

turns joint control on/off

taoDVar* taoJCParam::getDVar (   )  [inline]

deInt& taoJCParam::goalVelocityAuto (   )  [inline]

turns using global joint position/velocity gains

deFloat& taoJCParam::jlL (   )  [inline]

lower joint limit

deFloat& taoJCParam::jlU (   )  [inline]

upper joint limit

deInt& taoJCParam::jtLimitSoftOn (   )  [inline]

turns soft joint limit on/off

deFloat& taoJCParam::kp (   )  [inline]

joint position gain

deFloat& taoJCParam::kpL (   )  [inline]

lower joint limit position gain

deFloat& taoJCParam::kpU (   )  [inline]

upper joint limit position gain

deFloat& taoJCParam::kv (   )  [inline]

deFloat& taoJCParam::kvL (   )  [inline]

lower joint limit velocity gain

deFloat& taoJCParam::kvU (   )  [inline]

upper joint limit velocity gain

virtual void taoJCParam::moveGoal2Old (   )  [inline, virtual]

Reimplemented in taoJCParamSpherical, and taoJCParamDOF1.

virtual void taoJCParam::PDLaw (  taoJCParam *  jcpRoot, deFloat  s, deFloat  periodInv )  [inline, virtual]

Reimplemented in taoJCParamSpherical, and taoJCParamDOF1.

virtual void taoJCParam::reset (  deFloat  time  )  [inline, virtual]

Reimplemented in taoJCParamSpherical, and taoJCParamDOF1.

virtual void taoJCParam::setGoalPosition (  deFrame *  goal  )  [inline, virtual]

Reimplemented in taoJCParamSpherical, taoJCParamDOF1, taoJCParamPrismatic, and taoJCParamRevolute.

deInt& taoJCParam::useGlobalGains (   )  [inline]

turns using global joint position/velocity gains

virtual void taoJCParam::ZeroLaw (   )  [inline, virtual]

Reimplemented in taoJCParamSpherical, and taoJCParamDOF1.

---

Friends And Related Function Documentation

friend class taoControlJt [friend]

---

Member Data Documentation

deInt taoJCParam::_controlOn [protected]

turns joint control on/off

deInt taoJCParam::_goalVelocityAuto [protected]

turns using global joint position/velocity gains

deFloat taoJCParam::_jlL [protected]

lower joint limit

deFloat taoJCParam::_jlU [protected]

upper joint limit

taoJoint* taoJCParam::_joint [protected]

deInt taoJCParam::_jtLimitSoftOn [protected]

turns soft joint limit on/off

deFloat taoJCParam::_kp [protected]

joint position gain

deFloat taoJCParam::_kpL [protected]

lower joint limit position gain

deFloat taoJCParam::_kpU [protected]

upper joint limit position gain

deFloat taoJCParam::_kv [protected]

joint velocity gain

deFloat taoJCParam::_kvL [protected]

lower joint limit velocity gain

deFloat taoJCParam::_kvU [protected]

upper joint limit velocity gain

deFloat taoJCParam::_tg [protected]

deFloat taoJCParam::_tgo [protected]

deInt taoJCParam::_useGlobalGains [protected]

turns using global joint position/velocity gains

---

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

• taoControlJt.h

---