From 18e38b66b20b00b0d11ca5ec9227ae5b24e548b0 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Tue, 27 Mar 2018 11:09:29 +0200
Subject: [PATCH] added kp and kd for ActiveImpedanceControlTarget
---
.../ControlTargets/ControlTarget1DoFActuator.h | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
index 72d13d6f3..db15a4bd3 100644
--- a/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
+++ b/source/RobotAPI/components/units/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h
@@ -98,7 +98,8 @@ namespace armarx
{
public:
float position;
- float stiffness;
+ float kp;
+ float kd;
const std::string& getControlMode() const override
{
@@ -107,17 +108,19 @@ namespace armarx
void reset() override
{
position = 0;
- stiffness = 0;
+ kp = 0;
+ kd = 0;
}
bool isValid() const override
{
- return std::isfinite(position) && stiffness >= 0;
+ return std::isfinite(position) && kp >= 0;
}
static ControlTargetInfo<ActiveImpedanceControlTarget> GetClassMemberInfo()
{
ControlTargetInfo<ActiveImpedanceControlTarget> cti;
cti.addMemberVariable(&ActiveImpedanceControlTarget::position, "position");
- cti.addMemberVariable(&ActiveImpedanceControlTarget::stiffness, "stiffness");
+ cti.addMemberVariable(&ActiveImpedanceControlTarget::kp, "kp");
+ cti.addMemberVariable(&ActiveImpedanceControlTarget::kd, "kd");
return cti;
}
DETAIL_ControlTargetBase_DEFAULT_METHOD_IMPLEMENTATION
--
GitLab