#include <mobRob2DPIDController.h>
Public Member Functions | |
mobRob2DPIDController (const mobRob2DPIDControllerPars *) | |
Constructor. | |
~mobRob2DPIDController () | |
Destructor. | |
bool | step (Decimal &, Decimal &, MotionModuleTState *) |
Computes the values of the Linear and Angular velocities. |
mobRob2DPIDController::mobRob2DPIDController | ( | const mobRob2DPIDControllerPars * | pars | ) |
Constructor.
Parameters | of the I/O Linearization Controller |
mobRob2DPIDController::~mobRob2DPIDController | ( | ) |
Destructor.
bool mobRob2DPIDController::step | ( | Decimal & | linVel, | |
Decimal & | angVel, | |||
MotionModuleTState * | state | |||
) |
Computes the values of the Linear and Angular velocities.
Linear | Velocity of the controlled point, passed by reference and computed by the Controller. | |
Angular | Velocity of the controlled point, passed by reference and computed by the Controller. | |
Actual | pose of the Robot. | |
Actual | linear velocity of the Robot. | |
Actual | angular velocity of the Robot. |