MipAlgorithms::mobRob2DPIDController Class Reference

#include <mobRob2DPIDController.h>

List of all members.

Public Member Functions
	mobRob2DPIDController (const mobRob2DPIDControllerPars *)
	Constructor.
	~mobRob2DPIDController ()
	Destructor.
bool	step (Decimal &, Decimal &, MotionModuleTState *)
	Computes the values of the Linear and Angular velocities.

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Constructor & Destructor Documentation

mobRob2DPIDController::mobRob2DPIDController

(

const mobRob2DPIDControllerPars *

pars

)

Constructor.

Parameters:

Parameters

of the I/O Linearization Controller

mobRob2DPIDController::~mobRob2DPIDController

(

)

Destructor.

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Member Function Documentation

bool mobRob2DPIDController::step	(	Decimal &	linVel,
		Decimal &	angVel,
		MotionModuleTState *	state
	)

Computes the values of the Linear and Angular velocities.

Parameters:

	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.

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

• algorithms/MobRob2DController/mobRob2DPIDController.h
• algorithms/MobRob2DController/mobRob2DPIDController.cpp