Implements an abstract class for leg controllers. More...
#include <leg_controller.h>
Inheritance diagram for LegController:
Public Member Functions | |
| LegController () | |
| Constructor for LegController. | |
| virtual void | init (double kp, double kd) |
| Set the desired proportional and derivative gains for all legs. | |
| virtual void | init (const std::vector< double > &kp, const std::vector< double > &kd) |
| Set the desired proportional and derivative gains for each leg. | |
| virtual void | init (const std::vector< double > &stance_kp, const std::vector< double > &stance_kd, const std::vector< double > &swing_kp, const std::vector< double > &swing_kd, const std::vector< double > &swing_kp_cart, const std::vector< double > &swing_kd_cart) |
| Set the desired stance and swing proportional and derivative gains. | |
| void | updateLocalPlanMsg (quad_msgs::RobotPlan::ConstPtr msg, const ros::Time &t_msg) |
| Compute the leg command array message for a given current state and reference plan. | |
| virtual bool | computeLegCommandArray (const quad_msgs::RobotState &robot_state_msg, quad_msgs::LegCommandArray &leg_command_array_msg, quad_msgs::GRFArray &grf_array_msg)=0 |
| Compute the leg command array message. | |
| bool | overrideStateMachine () |
Protected Attributes | |
| const int | num_feet_ = 4 |
| Number of feet. | |
| std::shared_ptr< quad_utils::QuadKD > | quadKD_ |
| QuadKD class. | |
| std::vector< double > | stance_kp_ |
| PD gain when foot is in stance. | |
| std::vector< double > | stance_kd_ |
| std::vector< double > | swing_kp_ |
| PD gain when foot is in swing. | |
| std::vector< double > | swing_kd_ |
| std::vector< double > | swing_kp_cart_ |
| PD gain when foot is in swing (Cartesian) | |
| std::vector< double > | swing_kd_cart_ |
| quad_msgs::RobotPlan::ConstPtr | last_local_plan_msg_ |
| Last local plan message. | |
| ros::Time | last_local_plan_time_ |
| Time of last local plan message. | |
| bool | override_state_machine_ |
| Bool for whether to override the state machine. | |
Detailed Description
Implements an abstract class for leg controllers.
LegController provides an abstract leg controller class. It contains pure virtual methods for computing motor commands for each leg to be sent to the robot.
Constructor & Destructor Documentation
◆ LegController()
| LegController::LegController | ( | ) |
Constructor for LegController.
- Returns
- Constructed object of type LegController
Member Function Documentation
◆ computeLegCommandArray()
|
pure virtual |
Compute the leg command array message.
Implemented in GrfPidController, InverseDynamicsController, and JointController.
◆ init() [1/3]
|
virtual |
Set the desired proportional and derivative gains for each leg.
- Parameters
-
[in] kp Proportional gains [in] kd Derivative gains
◆ init() [2/3]
|
virtual |
Set the desired stance and swing proportional and derivative gains.
- Parameters
-
[in] stance_kp Stance phase proportional gains [in] stance_kd Stance phase derivative gains [in] swing_kp Swing phase proportional gains [in] swing_kd Swing phase derivative gains [in] swing_kp_cart Cartesian Swing phase proportional gains [in] swing_kd_cart Cartesian Swing phase derivative gains
◆ init() [3/3]
|
virtual |
Set the desired proportional and derivative gains for all legs.
- Parameters
-
[in] kp Proportional gains [in] kd Derivative gains
◆ updateLocalPlanMsg()
| void LegController::updateLocalPlanMsg | ( | quad_msgs::RobotPlan::ConstPtr | msg, |
| const ros::Time & | t_msg | ||
| ) |
Compute the leg command array message for a given current state and reference plan.
- Parameters
-
[in] local_plan_msg Message of the local referance plan
The documentation for this class was generated from the following files:
- robot_driver/include/robot_driver/controllers/leg_controller.h
- robot_driver/src/controllers/leg_controller.cpp
