NullTorqueController Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericTorqueControllers.h>

Instructs the robot to apply zero torque. More...

Inheritance diagram for NullTorqueController:

Detailed Description

Instructs the robot to apply zero torque.

Depending on the robot, this may result in a gravity compensation behavior (if the robot automatically compensates for gravity, and ideally Coriolis forces) or on the robot falling down!

Classes
struct	Parameters

Public Member Functions
	NullTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
MotionStep< JointTorques >	operator() (const ControlIterationInfo &controlIterationInfo) override
Public Member Functions inherited from PureTorqueController
	PureTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
bool	requestStop ()
Public Member Functions inherited from TorqueControllerBase
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, std::unique_ptr< DynamicsInterface > ownedModelInterface)
	TorqueControllerBase (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)
bool	init (const RobotState &state)
TorqueControllerParametersInterface *	parameters ()
template<typename ParametersType>
ParametersType *	typedParameters ()

Protected Member Functions
bool	initImpl () override

Additional Inherited Members
Protected Attributes inherited from PureTorqueController
std::atomic< bool >	m_isStopRequested = false
Protected Attributes inherited from TorqueControllerBase
bool	m_inited = false
size_t	m_numberOfJoints = 0
std::unique_ptr< const RobotState >	m_initState
std::unique_ptr< TorqueControllerParametersInterface >	m_parameters
std::unique_ptr< DynamicsInterface >	m_ownedModelInterface
DynamicsInterface &	m_dynamicsInterface

Member Function Documentation

operator()()

MotionStep< JointTorques > operator() ( const ControlIterationInfo & controlIterationInfo )

overridevirtual

Implements PureTorqueController.

initImpl()

bool initImpl ( )

overrideprotectedvirtual

Implements TorqueControllerBase.

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

• RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericTorqueControllers.h