Control Struct Reference

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.
bool	operator== (const Control &_rhs) const noexcept
	Define equality operators to check against identical controls.
bool	operator!= (const Control &_rhs) const noexcept

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

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

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.

Constructor & Destructor Documentation

Control()

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

Construct control

Parameters

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

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

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

• Control.h
• Control.cpp