javax.robotics.engine.controllers
Interface JointController

All Superinterfaces:

Controller

All Known Implementing Classes:

ComputedTorque, PDGravityCompensation, ProportionalDerivative, RobustControl

public interface JointController
extends Controller

Interface for different schemes of robot joints position controller.

Since:

1.0.0

Version:

7/10/2005

Author:

Carmine Lia

Field Summary

static short

WRONG_SIZE Incorrect size of error gain matrix

Method Summary

DMatrix	getKd() Gets the velocity error gain matrix.
DMatrix	getKp() Gets the position error gain matrix.
short	setKd(DMatrix Kd) Sets the velocity error gain matrix.
short	setKp(DMatrix Kp) Sets the position error gain matrix.
double[]	torqueCmd(double[]... qd) Sets the output torque for a desired joint position and velocity and acceleration.
RVector	torqueCmd(RVector... qd) Sets the output torque for a desired joint position and velocity and acceleration.

Methods inherited from interface javax.robotics.engine.controllers.Controller

getID, getRobotID

Field Detail

WRONG_SIZE

static final short WRONG_SIZE

Incorrect size of error gain matrix

See Also:

Constant Field Values

Method Detail

getKp

DMatrix getKp()

Gets the position error gain matrix.

Returns:

position error gain diagonal matrix

getKd

DMatrix getKd()

Gets the velocity error gain matrix.

Returns:

velocity error gain diagonal matrix

setKp

short setKp(DMatrix Kp)

Sets the position error gain matrix.

Call C++ method

set_Kp(const DiagonalMatrixr &Kp)

Parameters:

Kp - position error gain diagonal matrix

Returns:

0 or WRONG_SIZE

setKd

short setKd(DMatrix Kd)

Sets the velocity error gain matrix.

Call C++ method

set_Kd(const DiagonalMatrixr &Kd)

Parameters:

Kd - velocity error gain diagonal matrix

Returns:

0 or WRONG_SIZE

torqueCmd

double[] torqueCmd(double[]... qd)

Sets the output torque for a desired joint position and velocity and acceleration.

Call C++ method

torque_cmd(Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
 or torque_cmd(Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd, const ColumnVector &qppd)
 

Parameters:

qd - array of the vectors desired joints position, velocity, acceleration.

Returns:

torque.

torqueCmd

RVector torqueCmd(RVector... qd)

Sets the output torque for a desired joint position and velocity and acceleration.

Call C++ method

torque_cmd(Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd)
 or torque_cmd(Robot_basic &robot, const ColumnVector &qd, const ColumnVector &qpd, const ColumnVector &qppd)
 

Parameters:

qd - array of the vectors desired joints position, velocity, acceleration.

Returns:

torque.