Control Struct Reference

#include <Control.h>

Collaboration diagram for Control:

Public Types
Local Types
typedef std::vector< double >	Signal

Public Member Functions
Construction
	Control ()
	Control (Actuator *const _actuator, const Signal &_signal=Signal())
	Control (const Control &)=default
	Control (Control &&)=default
Assignment
Control &	operator= (const Control &)=default
Control &	operator= (Control &&)=default
Planning Interface
std::vector< double >	GetOutput () const
Ordering and Equality
bool	operator< (const Control &_rhs) const noexcept
	Define a weak ordering over controls to allow sorting/sequencing. More...
bool	operator== (const Control &_rhs) const noexcept
	Define equality operators to check against identical controls. More...
bool	operator!= (const Control &_rhs) const noexcept

Data Fields
Public Data
Actuator *	actuator {nullptr}
	The actuator for this control. More...
Signal	signal
	The signal for this control. More...

Detailed Description

Models the instructions that a robot sends to its actuators.

A control is modeled as a 'relative power' signal for each of the robot's DOFs. Controls are sent to a specific actuator. A strength in the range [-1:1] describes how to drive the actuator's mechanism for that DOF, with -1 representing full reverse and 1 representing full forward.

Member Typedef Documentation

Signal

typedef std::vector<double> Control::Signal

Constructor & Destructor Documentation

Control() [1/4]

Control::Control ( )

default

Control() [2/4]

Control::Control	(	Actuator *const	_actuator,
		const Signal &	_signal = Signal()
	)

Construct control

Parameters

_actuator	The actuator for this control.
_signal	The signal for this control.

Control() [3/4]

Control::Control ( const Control &  )

default

Control() [4/4]

Control::Control ( Control &&  )

default

Member Function Documentation

GetOutput()

std::vector< double > Control::GetOutput

(

)

const

Ask the actuator to compute the generalized force for this control. If not actuator, returns a 0 force vector

operator!=()

bool Control::operator!= ( const Control &  _rhs ) const

noexcept

operator<()

bool Control::operator< ( const Control &  _rhs ) const

noexcept

Define a weak ordering over controls to allow sorting/sequencing.

operator=() [1/2]

Control& Control::operator= ( const Control &  )

default

operator=() [2/2]

Control& Control::operator= ( Control &&  )

default

operator==()

bool Control::operator== ( const Control &  _rhs ) const

noexcept

Define equality operators to check against identical controls.

Field Documentation

actuator

Actuator* Control::actuator {nullptr}

The actuator for this control.

signal

Signal Control::signal

The signal for this control.

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

• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Robot/Control.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/MPProblem/Robot/Control.cpp