controllers Namespace Reference

Systems to determine a command output from measured and desired inputs. More...

Classes
class	ControllerFactory
	Factory to create a shared pointer to a controller. More...
class	IController
	Abstract class to define a controller in a desired state type, such as joint or Cartesian spaces. More...

Typedefs
typedef ControllerFactory< state_representation::CartesianState >	CartesianControllerFactory
typedef ControllerFactory< state_representation::JointState >	JointControllerFactory

Enumerations
enum class	CONTROLLER_TYPE {   NONE , IMPEDANCE , DISSIPATIVE , DISSIPATIVE_LINEAR ,   DISSIPATIVE_ANGULAR , DISSIPATIVE_DECOUPLED , VELOCITY_IMPEDANCE , COMPLIANT_TWIST }
	Enumeration of the implemented controllers. More...

Detailed Description

Systems to determine a command output from measured and desired inputs.

Typedef Documentation

CartesianControllerFactory

typedef ControllerFactory<state_representation::CartesianState> controllers::CartesianControllerFactory

Definition at line 78 of file ControllerFactory.hpp.

JointControllerFactory

typedef ControllerFactory<state_representation::JointState> controllers::JointControllerFactory

Definition at line 79 of file ControllerFactory.hpp.

Enumeration Type Documentation

CONTROLLER_TYPE

enum class controllers::CONTROLLER_TYPE

strong

Enumeration of the implemented controllers.

Definition at line 8 of file ControllerType.hpp.