limited_proxy.hpp

// Copyright (c) 2008, Willow Garage, Inc.
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#ifndef CONTROL_TOOLBOX__LIMITED_PROXY_HPP_
#define CONTROL_TOOLBOX__LIMITED_PROXY_HPP_
 
namespace control_toolbox
{
class LimitedProxy
{
public:
  // Controller parameter values
  double mass_;             // Estimate of the joint mass
  double Kd_;               // Damping gain
  double Kp_;               // Position gain
  double Ki_;               // Integral gain
  double Ficl_;             // Integral force clamp
  double effort_limit_;     // Limit on output force
  double vel_limit_;        // Limit on velocity
  double pos_upper_limit_;  // Upper position bound
  double pos_lower_limit_;  // Lower position bound
  double lambda_proxy_;     // Bandwidth of proxy reconvergence
  double acc_converge_;     // Acceleration of proxy reconvergence
 
  LimitedProxy()
  : mass_(0.0),
    Kd_(0.0),
    Kp_(0.0),
    Ki_(0.0),
    Ficl_(0.0),
    effort_limit_(0.0),
    vel_limit_(0.0),
    pos_upper_limit_(0.0),
    pos_lower_limit_(0.0),
    lambda_proxy_(0.0),
    acc_converge_(0.0)
  {
  }
 
  void reset(double pos_act, double vel_act);
 
  double update(
    double pos_des, double vel_des, double acc_des, double pos_act, double vel_act, double dt);
 
private:
  // Controller state values
  double last_proxy_pos_;  // Proxy position
  double last_proxy_vel_;  // Proxy velocity
  double last_proxy_acc_;  // Proxy acceleration
 
  double last_vel_error_;  // Velocity error
  double last_pos_error_;  // Position error
  double last_int_error_;  // Integral error
};
 
}  // namespace control_toolbox
 
#endif  // CONTROL_TOOLBOX__LIMITED_PROXY_HPP_