tgBasicController Class Reference

#include <tgBasicController.h>

Inheritance diagram for tgBasicController:

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Public Member Functions
	tgBasicController (tgControllable *controllable, double setPoint=0.0)
virtual	~tgBasicController ()
virtual void	control (double dt)
virtual void	control (double dt, double setPoint, double sensorData=0)
virtual void	setNewSetPoint (double newSetPoint)
const tgControllable *const	getControllable () const

Protected Attributes
double	m_setPoint
tgControllable *	m_controllable

Detailed Description

The simplest possible controller. Naively passes its setpoint straight through as the control input. Functional for rest length control for a tgBasicActuator.

Definition at line 38 of file tgBasicController.h.

Constructor & Destructor Documentation

tgBasicController::tgBasicController	(	tgControllable *	controllable,
		double	setPoint = 0.0
	)

The only constructor with two inputs

Parameters

[in]	controllable.	The system to be controlled.
[in]	setPoint.	The initial setPoint for the system

Definition at line 36 of file tgBasicController.cpp.

tgBasicController::~tgBasicController ( )

virtual

The destructor. Sets m_controllable to NULL.

Definition at line 43 of file tgBasicController.cpp.

Member Function Documentation

void tgBasicController::control ( double  dt )

virtual

The control step. In this version it passes the setPoint directly to m_controllable

Parameters

[in]

dt

- the timestep. Must be positive.

Reimplemented in tgPIDController, and tgTensionController.

Definition at line 48 of file tgBasicController.cpp.

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void tgBasicController::control ( double  dt, double  setPoint, double  sensorData = 0  )

virtual

Calls setNewSetPoint on the setPoint parameter, then calls control(dt)

Parameters

[in]	dt	- the elapsed time. Must be positive.
[in]	setPoint	- the setpoint to be used at this step.
[in]	sensorData	unused in this version. Unifies the API with PIDController

Reimplemented in tgPIDController, and tgTensionController.

Definition at line 58 of file tgBasicController.cpp.

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const tgControllable* const tgBasicController::getControllable ( ) const

inline

Return a const pointer to a const tgControllable. Current solution to obtaining sensor data (requires casting at a higher level)

Definition at line 82 of file tgBasicController.h.

void tgBasicController::setNewSetPoint ( double  newSetPoint )

virtual

Updates m_setPoint to newSetpoint

Parameters

[in]

newSetPoint,the

next desired setpoint for the controllable

Definition at line 72 of file tgBasicController.cpp.

Member Data Documentation

tgControllable* tgBasicController::m_controllable

protected

The system being controlled. We don't own this

Definition at line 97 of file tgBasicController.h.

double tgBasicController::m_setPoint

protected

The control setpoint. Updated via control or setNewSetPoint

Definition at line 92 of file tgBasicController.h.

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

• controllers/tgBasicController.h
• controllers/tgBasicController.cpp