Atlas Sim Interface  1.0
Public Member Functions | Public Attributes
AtlasJointControlParams Struct Reference

Structure for specifying controller parameters. More...

#include <AtlasSimInterfaceTypes.h>


Detailed Description

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).

Constructor & Destructor Documentation

Default constructor. All data members set to 0.


Member Data Documentation

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).