Inheritance diagram for PureTorqueController:

Public Member Functions
	PureTorqueController (std::unique_ptr< TorqueControllerParametersInterface > params, DynamicsInterface &modelInterface)

virtual MotionStep< JointTorques >	operator() (const ControlIterationInfo &controlIterationInfo)=0

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 Attributes
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

Additional Inherited Members
Protected Member Functions inherited from TorqueControllerBase
virtual bool	initImpl ()=0

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

Public Member Functions

Protected Attributes