Libbarrett: ControlModeSwitcher< DOF > Class Template Reference

Public Types
enum	ControlMode { CURRENT, VOLTAGE, CURRENT, VOLTAGE }
enum	ControlMode { CURRENT, VOLTAGE, CURRENT, VOLTAGE }
Public Member Functions
	BARRETT_UNITS_TEMPLATE_TYPEDEFS (DOF)
	ControlModeSwitcher (barrett::ProductManager &pm_, barrett::systems::Wam< DOF > &wam_, const libconfig::Setting &setting_)
enum ControlMode	getMode () const
double	getCurrentGain () const
double	getVoltageGain () const
void	currentControl ()
void	voltageControl ()
void	calculateTorqueGain ()
	BARRETT_UNITS_TEMPLATE_TYPEDEFS (DOF)
	ControlModeSwitcher (ProductManager &pm_, systems::Wam< DOF > &wam_, double currentTorqueGain, double voltageTorqueGain)
enum ControlMode	getMode () const
void	currentControl ()
void	voltageControl ()
void	calculateTorqueGain ()
Static Public Attributes
static const double	MAX_SCALE = 4.0
static const double	MIN_SCALE = 0.25
Protected Attributes
barrett::ProductManager &	pm
barrett::systems::Wam< DOF > &	wam
const libconfig::Setting &	setting
enum ControlMode	mode
double	cGain
double	vGain
barrett::systems::Gain < jt_type, double >	torqueGainSys
ProductManager &	pm
systems::Wam< DOF > &	wam
systems::Gain< jt_type, double >	torqueGainSys

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

Public Types