Control.cpp File Reference

#include "Control.h"
#include "Actuator.h"
#include "Utilities/PMPLExceptions.h"
#include "nonstd/io.h"
#include "nonstd/numerics.h"
#include <algorithm>
#include <sstream>

Include dependency graph for Control.cpp:

Functions
std::ostream &	operator<< (std::ostream &_os, const Control &_c)
	Display function for debugging controls and roadmap output. Prints the signal. More...
std::vector< double >	AggregatedControlVector (const ControlSet &_controls)

Function Documentation

AggregatedControlVector()

std::vector<double> AggregatedControlVector

(

const ControlSet &

_controls

)

When dealing with hardware it is often more convenient to have a single force/velocity vector, depending on how the robot model will be set up. This helper converts a control set to a single summed force/velocity vector.

Parameters

_controls

The control set.

Returns

An aggregated output vector (force/velocity according to actuator type).

operator<<()

std::ostream& operator<<	(	std::ostream &	_os,
		const Control &	_c
	)

Display function for debugging controls and roadmap output. Prints the signal.