Always include last. More...

#include <mtsPID.h>

Inheritance diagram for mtsPID:

Classes
struct	InterfaceRobotTorque

Public Member Functions
	mtsPID (const std::string &taskname, const double period)
	Main constructor. More...

	mtsPID (const mtsTaskPeriodicConstructorArg &arg)

	~mtsPID ()

void	Configure (const std::string &filename)
	Configure PID gains & params. More...

void	Startup (void)

void	Run (void)

void	Cleanup (void)

Public Member Functions inherited from mtsTaskPeriodic
	mtsTaskPeriodic (const std::string &name, double periodicityInSeconds, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const std::string &name, const osaAbsoluteTime &periodicity, bool isHardRealTime=false, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskPeriodic (const mtsTaskPeriodicConstructorArg &arg)

virtual	~mtsTaskPeriodic ()

void	Suspend (void)

double	GetPeriodicity (void) const

bool	IsPeriodic (void) const

Public Member Functions inherited from mtsTaskContinuous
	mtsTaskContinuous (const std::string &name, unsigned int sizeStateTable=256, bool newThread=true)

	mtsTaskContinuous (const mtsTaskContinuousConstructorArg &arg)

virtual	~mtsTaskContinuous ()

void	Create (void *data=0)

void	Start (void)

void	Kill (void)

Public Member Functions inherited from mtsTask
	mtsTask (const std::string &name, unsigned int sizeStateTable=256)

virtual	~mtsTask ()

virtual void	OnStartupException (const std::exception &excp)

virtual void	OnRunException (const std::exception &excp)

virtual void	Configure (const std::string &CMN_UNUSED(filename)="")

void	SetInitializationDelay (double delay)

void	Create (void)

double	GetAveragePeriod (void) const

const std::string	GetDefaultStateTableName (void) const

mtsStateTable *	GetDefaultStateTable (void)

mtsInterfaceRequired *	AddInterfaceRequiredWithoutSystemEventHandlers (const std::string &interfaceRequiredName, mtsRequiredType required=MTS_REQUIRED)

mtsInterfaceProvided *	AddInterfaceProvidedWithoutSystemEvents (const std::string &newInterfaceName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY, bool isProxy=false)

virtual bool	WaitToStart (double timeout)

virtual bool	WaitToTerminate (double timeout)

virtual void	WaitForWakeup (void)

virtual void	Wakeup (void)

void	ProcessManagerCommandsIfNotActive ()

bool	CheckForOwnThread (void) const

virtual bool	IsOverranPeriod (void) const

virtual void	ResetOverranPeriod (void)

Public Member Functions inherited from mtsComponent
	mtsComponent (const std::string &deviceName)

virtual	~mtsComponent ()

const std::string &	GetName (void) const

void	GetName (std::string &placeHolder) const

void	SetName (const std::string &componentName)

bool	CreateAndWait (double timeoutInSeconds)

bool	StartAndWait (double timeoutInSeconds)

bool	KillAndWait (double timeoutInSeconds)

mtsInterfaceProvided *	AddInterfaceProvided (const std::string &interfaceProvidedName, mtsInterfaceQueueingPolicy queueingPolicy=MTS_COMPONENT_POLICY)

CISST_DEPRECATED mtsInterfaceProvided *	AddProvidedInterface (const std::string &interfaceProvidedName)

virtual mtsInterfaceOutput *	AddInterfaceOutput (const std::string &interfaceOutputName)

bool	InterfaceExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceProvidedOrOutputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

bool	InterfaceRequiredOrInputExists (const std::string &interfaceName, cmnLogLevel lod=CMN_LOG_LEVEL_INIT_VERBOSE) const

mtsInterfaceProvided *	GetInterfaceProvided (const std::string &interfaceProvidedName) const

mtsInterfaceOutput *	GetInterfaceOutput (const std::string &interfaceOutputName) const

size_t	GetNumberOfInterfacesProvided (void) const

size_t	GetNumberOfInterfacesOutput (void) const

bool	RemoveInterfaceProvided (const std::string &interfaceProvidedName, const bool skipDisconnect=false)

mtsInterfaceRequired *	AddInterfaceRequired (const std::string &interfaceRequiredName, mtsRequiredType isRequired=MTS_REQUIRED)

CISST_DEPRECATED mtsInterfaceRequired *	AddRequiredInterface (const std::string &requiredInterfaceName)

virtual mtsInterfaceInput *	AddInterfaceInput (const std::string &interfaceInputName)

const mtsInterfaceProvided *	GetInterfaceProvidedFor (const std::string &interfaceRequiredName)

mtsInterfaceRequired *	GetInterfaceRequired (const std::string &interfaceRequiredName)

mtsInterfaceInput *	GetInterfaceInput (const std::string &interfaceInputName) const

size_t	GetNumberOfInterfacesRequired (void) const

size_t	GetNumberOfInterfacesInput (void) const

bool	RemoveInterfaceRequired (const std::string &interfaceRequiredName, const bool skipDisconnect=false)

const mtsManagerComponentServices *	GetManagerComponentServices (void) const

mtsManagerComponentServices *	GetManagerComponentServices (void)

mtsStateTable *	GetStateTable (const std::string &stateTableName)

bool	AddStateTable (mtsStateTable *existingStateTable, bool addInterfaceProvided=true)

void	UseSeparateLogFileDefault (bool forwardToLogger=true)

void	UseSeparateLogFileDefaultWithDate (bool forwardToLogger=true)

void	UseSeparateLogFile (const std::string &filename, bool forwardToLogger=true)

cmnLogger::StreamBufType *	GetLogMultiplexer (void) const

bool	IsRunning (void) const

bool CISST_DEPRECATED	Running (void) const

bool	IsStarted (void) const

bool	IsTerminated (void) const

bool	IsEndTask (void) const

const mtsComponentState &	GetState (void) const

void	GetState (mtsComponentState &state) const

void	ToStream (std::ostream &outputStream) const

bool	SetReplayMode (void)

bool	SetReplayData (const std::string &stateTableName, const std::string &fileName)

bool	SetReplayTime (const double time)

std::vector< std::string >	GetNamesOfInterfacesProvidedOrOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesProvided (void) const

std::vector< std::string >	GetNamesOfInterfacesOutput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequiredOrInput (void) const

std::vector< std::string >	GetNamesOfInterfacesRequired (void) const

std::vector< std::string >	GetNamesOfInterfacesInput (void) const

Public Member Functions inherited from cmnGenericObject
virtual	~cmnGenericObject (void)

virtual const cmnClassServicesBase *	Services (void) const =0

bool	ReconstructFrom (const cmnGenericObject &other)

std::string	ToString (void) const

virtual void	ToStreamRaw (std::ostream &outputStream, const char delimiter= ' ', bool headerOnly=false, const std::string &headerPrefix="") const

virtual bool	FromStreamRaw (std::istream &inputStream, const char delimiter= ' ')

virtual void	SerializeRaw (std::ostream &outputStream) const

virtual void	DeSerializeRaw (std::istream &inputStream)

virtual size_t	ScalarNumber (void) const

virtual bool	ScalarNumberIsFixed (void) const

virtual double	Scalar (const size_t CMN_UNUSED(index)) const throw (std::out_of_range)

virtual std::string	ScalarDescription (const size_t CMN_UNUSED(index), const std::string &CMN_UNUSED(userDescription)) const

Protected Member Functions
void	ResetController (void)
	Reset encoder, clear e/ed/ei value. More...

void	SetDesiredPositions (const prmPositionJointSet &prmPos)
	Set desired joint position. More...

void	SetDesiredTorques (const prmForceTorqueJointSet &prmTrq)

void	SetupInterfaces (void)

void	Enable (const bool &enable)

void	EnableTorqueMode (const vctBoolVec &enable)

void	SetTrackingErrorTolerances (const vctDoubleVec &tolerances)

void	ErrorEventHandler (const std::string &message)

void	SetPGain (const vctDoubleVec &pgain)
	Set controller P gains. More...

void	SetDGain (const vctDoubleVec &dgain)
	Set controller D gains. More...

void	SetIGain (const vctDoubleVec &igain)
	Set controller I gains. More...

void	SetJointLowerLimit (const vctDoubleVec &lowerLimit)
	Set joint lower limit. More...

void	SetJointUpperLimit (const vctDoubleVec &upperLimit)
	Set joint upper limit. More...

void	SetMinIErrorLimit (const vctDoubleVec &iminlim)
	Set minimum iError limit. More...

void	SetMaxIErrorLimit (const vctDoubleVec &imaxlim)
	Set maximum iError limit. More...

void	SetForgetIError (const double &forget)
	Set error integral forgetting factor. More...

Protected Member Functions inherited from mtsTaskPeriodic
virtual void *	RunInternal (void *argument)

void	StartupInternal (void)

void	CleanupInternal (void)

void	StartInternal (void)

Protected Member Functions inherited from mtsTask
void	RunEventHandler (void)

void	ChangeStateEventHandler (const mtsComponentState &newState)

mtsExecutionResult	RunEvent (bool check=true)

void	DoRunInternal (void)

void	Sleep (double timeInSeconds)

mtsStateIndex::TimeTicksType	GetTick (void) const

virtual void	SaveThreadStartData (void *data)

virtual void	SetThreadReturnValue (void *returnValue)

void	ChangeState (mtsComponentState::Enum newState)

bool	WaitForState (mtsComponentState desiredState, double timeout)

Protected Member Functions inherited from mtsComponent
	mtsComponent (void)

	mtsComponent (const mtsComponent &other)

void	Initialize (void)

mtsInterfaceRequired *	AddInterfaceRequiredExisting (const std::string &interfaceRequiredName, mtsInterfaceRequired *interfaceRequired)

mtsInterfaceRequired *	AddInterfaceRequiredUsingMailbox (const std::string &interfaceRequiredName, mtsMailBox *mailBox, mtsRequiredType required)

mtsInterfaceProvided *	AddInterfaceProvidedUsingMailbox (const std::string &interfaceProvidedName, mtsMailBox *mailBox)

mtsInterfaceInput *	AddInterfaceInputExisting (const std::string &interfaceInputName, mtsInterfaceInput *interfaceInput)

mtsInterfaceOutput *	AddInterfaceOutputExisting (const std::string &interfaceOutputName, mtsInterfaceOutput *interfaceOutput)

void	KillSeparateLogFile (void)

size_t	ProcessMailBoxes (InterfacesProvidedMapType &interfaces)

size_t	ProcessQueuedCommands (void)

size_t	ProcessQueuedEvents (void)

mtsInterfaceRequired *	EnableDynamicComponentManagement (void)
	Enable support for dynamic component management services. More...

bool	AddInterfaceInternal (const bool useMangerComponentServices=false)
	Add internal interfaces. More...

void	InterfaceInternalCommands_GetEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_AddObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_RemoveEndUserInterface (const mtsEndUserInterfaceArg &argin, mtsEndUserInterfaceArg &argout)

void	InterfaceInternalCommands_RemoveObserverList (const mtsEventHandlerList &argin, mtsEventHandlerList &argout)

void	InterfaceInternalCommands_ComponentCreate (const mtsDescriptionComponent &componentDescription, bool &result)

void	InterfaceInternalCommands_ComponentStartOther (const mtsComponentStatusControl &arg)

Protected Attributes
struct mtsPID::InterfaceRobotTorque	Robot

int	Counter
	Counter for internal use. More...

vctDoubleVec	Kp
	Proportional gains. More...

vctDoubleVec	Kd
	Derivative gains. More...

vctDoubleVec	Ki
	Integral gains. More...

vctDoubleVec	Offset
	Offset. More...

vctDoubleVec	JointLowerLimit
	Joint lower limit. More...

vctDoubleVec	JointUpperLimit
	Joint upper limit. More...

bool	CheckJointLimit
	Flag whether check joint limit. More...

vctBoolVec	mPreviousJointLimitFlag

vctBoolVec	mJointLimitFlag

vctDoubleVec	FeedbackPosition
	Feedback joint positions. More...

vctDoubleVec	DesiredPosition
	Desired joint positions. More...

vctDoubleVec	FeedbackTorque
	Feedback joint positions. More...

vctDoubleVec	DesiredTorque
	Desired joint positions. More...

vctDoubleVec	FeedbackVelocity
	Feedback joint velocities. More...

vctDoubleVec	DesiredVelocity
	Desired joint velocities. More...

vctDoubleVec	Torque
	Torque set to robot. More...

prmJointTypeVec	JointType
	prm type joint type More...

prmPositionJointGet	FeedbackPositionParam
	prm type feedback positoin More...

prmPositionJointGet	FeedbackPositionPreviousParam

prmPositionJointSet	DesiredPositionParam
	prm type desired position More...

prmForceTorqueJointSet	prmDesiredTrq
	prm type desired torque More...

prmVelocityJointGet	FeedbackVelocityParam
	prm type feedback velocity More...

prmForceTorqueJointSet	TorqueParam
	prm type set torque More...

prmStateJoint	mStateJoint
	prm type joint state More...

prmStateJoint	mStateJointDesired

vctDoubleVec	Error
	Error. More...

vctDoubleVec	ErrorAbsolute

vctDoubleVec	dError
	Error derivative. More...

vctDoubleVec	iError
	Error integral. More...

vctDoubleVec	oldError
	Previous error. More...

vctDoubleVec	oldDesiredPos
	Previous desiredPos. More...

vctDoubleVec	minIErrorLimit
	Min iError. More...

vctDoubleVec	maxIErrorLimit
	Max iError. More...

vctDoubleVec	forgetIError
	iError forgetting factor More...

vctDoubleVec	nonlinear
	If 0, use regular PID, else use as nonlinear factor. More...

vctDoubleVec	DeadBand
	Deadband (errors less than this are set to 0) More...

bool	Enabled
	Enable mtsPID controller. More...

vctBoolVec	TorqueMode
	Enable mtsPID controller. More...

bool	mEnableTrackingError

vctDoubleVec	mTrackingErrorTolerances

vctBoolVec	mPreviousTrackingErrorFlag

vctBoolVec	mTrackingErrorFlag

mtsStateTable	ConfigurationStateTable
	Configuration state table. More...

struct {
mtsFunctionWrite Enabled
	Enable event. More...

mtsFunctionWrite JointLimit

}	Events

struct {
mtsFunctionWrite Status

mtsFunctionWrite Warning

mtsFunctionWrite Error

}	MessageEvents

Protected Attributes inherited from mtsTaskPeriodic
osaThreadBuddy	ThreadBuddy

double	Period

osaAbsoluteTime	AbsoluteTimePeriod

bool	IsHardRealTime

Protected Attributes inherited from mtsTaskContinuous
bool	NewThread

bool	CaptureThread

Protected Attributes inherited from mtsTask
osaThread	Thread

double	InitializationDelay

osaMutex	StateChange

osaThreadSignal	StateChangeSignal

mtsStateTable	StateTable

bool	OverranPeriod

void *	ThreadStartData

void *	ReturnValue

mtsCallableVoidBase *	InterfaceProvidedToManagerCallable

mtsInterfaceRequired *	ExecIn

mtsInterfaceProvided *	ExecOut

mtsFunctionVoid	RunEventInternal

bool	RunEventCalled

mtsFunctionWrite	ChangeStateEvent

Protected Attributes inherited from mtsComponent
std::string	Name

mtsComponentState	State

mtsInterfaceProvided *	InterfaceProvidedToManager

bool	UseSeparateLogFileFlag

cmnLogger::StreamBufType *	LoDMultiplexerStreambuf

std::ofstream *	LogFile

StateTableMapType	StateTables

mtsManagerComponentServices *	ManagerComponentServices

mtsFunctionWrite	EventGeneratorChangeState

bool	ReplayMode

InterfacesProvidedMapType	InterfacesProvided

InterfacesOutputMapType	InterfacesOutput

InterfacesRequiredMapType	InterfacesRequired

InterfacesInputMapType	InterfacesInput

Additional Inherited Members
Public Types inherited from mtsTaskPeriodic
typedef mtsTaskContinuous	BaseType

Public Types inherited from mtsTaskContinuous
typedef mtsTask	BaseType

Public Types inherited from mtsTask
typedef mtsComponent	BaseType

Public Types inherited from mtsComponent
typedef mtsComponent	ThisType

Static Public Attributes inherited from mtsTask
static std::runtime_error	UnknownException

Protected Types inherited from mtsComponent
typedef cmnNamedMap < mtsStateTable >	StateTableMapType

typedef cmnNamedMap < mtsInterfaceProvided >	InterfacesProvidedMapType

typedef cmnNamedMap < mtsInterfaceOutput >	InterfacesOutputMapType

typedef cmnNamedMap < mtsInterfaceRequired >	InterfacesRequiredMapType

typedef cmnNamedMap < mtsInterfaceInput >	InterfacesInputMapType

Detailed Description

Always include last.

Constructor & Destructor Documentation

mtsPID::mtsPID	(	const std::string &	taskname,
		const double	period
	)

Main constructor.

Parameters

taskname	The name of the MTS periodic task
period	The period of the task

mtsPID::mtsPID ( const mtsTaskPeriodicConstructorArg & arg )

mtsPID::~mtsPID ( )

inline

Member Function Documentation

void mtsPID::Cleanup ( void )

virtual

Virtual method that gets overloaded, and is run after the component gets killed using Kill() method.

Reimplemented from mtsComponent.

void mtsPID::Configure ( const std::string & filename )

virtual

Configure PID gains & params.

Parameters

filename The name of the configuration file

Reimplemented from mtsComponent.

void mtsPID::Enable ( const bool & enable )

protected

void mtsPID::EnableTorqueMode ( const vctBoolVec & enable )

protected

void mtsPID::ErrorEventHandler ( const std::string & message )

protected

void mtsPID::ResetController ( void )

protected

Reset encoder, clear e/ed/ei value.

void mtsPID::Run ( void )

virtual

Pure virtual method that gets overloaded to run the actual task.

Implements mtsTask.

void mtsPID::SetDesiredPositions ( const prmPositionJointSet & prmPos )

protected

Set desired joint position.

Parameters

prmPos The desired position

void mtsPID::SetDesiredTorques ( const prmForceTorqueJointSet & prmTrq )

protected

void mtsPID::SetDGain ( const vctDoubleVec & dgain )

protected

Set controller D gains.

Parameters

dgain new D gains

void mtsPID::SetForgetIError ( const double & forget )

protected

Set error integral forgetting factor.

Parameters

forget iError forgetting factor

void mtsPID::SetIGain ( const vctDoubleVec & igain )

protected

Set controller I gains.

Parameters

igain new I gains

void mtsPID::SetJointLowerLimit ( const vctDoubleVec & lowerLimit )

protected

Set joint lower limit.

Parameters

lowerLimit new joint lower limit

void mtsPID::SetJointUpperLimit ( const vctDoubleVec & upperLimit )

protected

Set joint upper limit.

Parameters

upperLimit new joint upper limit

void mtsPID::SetMaxIErrorLimit ( const vctDoubleVec & imaxlim )

protected

Set maximum iError limit.

Parameters

imaxlim maximum iError limit

void mtsPID::SetMinIErrorLimit ( const vctDoubleVec & iminlim )

protected

Set minimum iError limit.

Parameters

iminlim minmum iError limit

void mtsPID::SetPGain ( const vctDoubleVec & pgain )

protected

Set controller P gains.

Parameters

pgain new P gains

void mtsPID::SetTrackingErrorTolerances ( const vctDoubleVec & tolerances )

protected

void mtsPID::SetupInterfaces ( void )

protected

void mtsPID::Startup ( void )

virtual

Virtual method that gets overloaded, and is run before the component is started.

Reimplemented from mtsComponent.

Member Data Documentation

bool mtsPID::CheckJointLimit

protected

Flag whether check joint limit.

mtsStateTable mtsPID::ConfigurationStateTable

protected

Configuration state table.

int mtsPID::Counter

protected

Counter for internal use.

vctDoubleVec mtsPID::DeadBand

protected

Deadband (errors less than this are set to 0)

vctDoubleVec mtsPID::dError

protected

Error derivative.

vctDoubleVec mtsPID::DesiredPosition

protected

Desired joint positions.

prmPositionJointSet mtsPID::DesiredPositionParam

protected

prm type desired position

vctDoubleVec mtsPID::DesiredTorque

protected

Desired joint positions.

vctDoubleVec mtsPID::DesiredVelocity

protected

Desired joint velocities.

bool mtsPID::Enabled

protected

Enable mtsPID controller.

mtsFunctionWrite mtsPID::Enabled

Enable event.

vctDoubleVec mtsPID::Error

protected

Error.

mtsFunctionWrite mtsPID::Error

vctDoubleVec mtsPID::ErrorAbsolute

protected

struct { ... } mtsPID::Events

vctDoubleVec mtsPID::FeedbackPosition

protected

Feedback joint positions.

prmPositionJointGet mtsPID::FeedbackPositionParam

protected

prm type feedback positoin

prmPositionJointGet mtsPID::FeedbackPositionPreviousParam

protected

vctDoubleVec mtsPID::FeedbackTorque

protected

Feedback joint positions.

vctDoubleVec mtsPID::FeedbackVelocity

protected

Feedback joint velocities.

prmVelocityJointGet mtsPID::FeedbackVelocityParam

protected

prm type feedback velocity

vctDoubleVec mtsPID::forgetIError

protected

iError forgetting factor

vctDoubleVec mtsPID::iError

protected

Error integral.

mtsFunctionWrite mtsPID::JointLimit

vctDoubleVec mtsPID::JointLowerLimit

protected

Joint lower limit.

prmJointTypeVec mtsPID::JointType

protected

prm type joint type

vctDoubleVec mtsPID::JointUpperLimit

protected

Joint upper limit.

vctDoubleVec mtsPID::Kd

protected

Derivative gains.

vctDoubleVec mtsPID::Ki

protected

Integral gains.

vctDoubleVec mtsPID::Kp

protected

Proportional gains.

vctDoubleVec mtsPID::maxIErrorLimit

protected

Max iError.

bool mtsPID::mEnableTrackingError

protected

struct { ... } mtsPID::MessageEvents

vctDoubleVec mtsPID::minIErrorLimit

protected

Min iError.

vctBoolVec mtsPID::mJointLimitFlag

protected

vctBoolVec mtsPID::mPreviousJointLimitFlag

protected

vctBoolVec mtsPID::mPreviousTrackingErrorFlag

protected

prmStateJoint mtsPID::mStateJoint

protected

prm type joint state

prmStateJoint mtsPID::mStateJointDesired

protected

vctBoolVec mtsPID::mTrackingErrorFlag

protected

vctDoubleVec mtsPID::mTrackingErrorTolerances

protected

vctDoubleVec mtsPID::nonlinear

protected

If 0, use regular PID, else use as nonlinear factor.

vctDoubleVec mtsPID::Offset

protected

Offset.

vctDoubleVec mtsPID::oldDesiredPos

protected

Previous desiredPos.

vctDoubleVec mtsPID::oldError

protected

Previous error.

prmForceTorqueJointSet mtsPID::prmDesiredTrq

protected

prm type desired torque

struct mtsPID::InterfaceRobotTorque mtsPID::Robot

protected

mtsFunctionWrite mtsPID::Status

vctDoubleVec mtsPID::Torque

protected

Torque set to robot.

vctBoolVec mtsPID::TorqueMode

protected

Enable mtsPID controller.

prmForceTorqueJointSet mtsPID::TorqueParam

protected

prm type set torque

mtsFunctionWrite mtsPID::Warning

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

/home/adeguet1/catkin_ws/src/cisst-saw/sawControllers/include/sawControllers/mtsPID.h

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation