Atlas Sim Interface
1.0
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Structure for specifying controller parameters. More...
#include <AtlasSimInterfaceTypes.h>
Structure for specifying controller parameters.
This structure contains the gains to be applied to a joint.
The final joint command will be:
k_q_p * ( q_d - q ) + k_q_i * 1/s * ( q_d - q ) + k_qd_p * ( qd_d - qd ) + f_d
The f_d term is from AtlasJointDesired.
Public Member Functions | |
AtlasJointControlParams () | |
Default constructor. All data members set to 0. | |
Public Attributes | |
float | k_q_p |
Position error gain, in N*m/rad. | |
float | k_q_i |
Integral of position error gain, in N*m/(rad*s). | |
float | k_qd_p |
Derivative error gain, in N*m/(rad/s). |
AtlasJointControlParams::AtlasJointControlParams | ( | ) | [inline] |
Default constructor. All data members set to 0.
Position error gain, in N*m/rad.
Integral of position error gain, in N*m/(rad*s).
Derivative error gain, in N*m/(rad/s).