InvertController Class Reference

Abstract class (interface) for robot controller that use direct matrix inversion and simple one layer networks. More...

#include <invertcontroller.h>

Inherits AbstractController.

Inherited by DInvert3ChannelController, Invert3ChannelController, and InvertNChannelController.

Inheritance diagram for InvertController:

[legend]Collaboration diagram for InvertController:

[legend]List of all members.


Public Member Functions
	InvertController (const std::string &name, const std::string &revision)
virtual paramval	getParam (const paramkey &key) const
	returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.
virtual bool	setParam (const paramkey &key, paramval val)
	sets the value of the given parameter or does nothing if unknown.
virtual paramlist	getParamList () const
	The list of all parameters with there value as allocated lists.
Protected Attributes
paramval	eps
paramval	rho
paramval	desens
paramval	s4delay
paramval	s4avg
paramval	factor_a
paramval	number_it
paramval	epsilon_it
paramval	delta
paramval	damping_c

Detailed Description

Abstract class (interface) for robot controller that use direct matrix inversion and simple one layer networks.

Implements standart parameters: eps, rho, mu, stepnumber4avg, stepnumber4delay

Constructor & Destructor Documentation

InvertController ( const std::string & name,

const std::string & revision

) [inline]

Member Function Documentation

virtual paramval getParam ( const paramkey & key ) const [inline, virtual]

returns the value of the requested parameter or 0 (+ error message to stderr) if unknown.

Reimplemented from Configurable.

virtual paramlist getParamList ( ) const [inline, virtual]

The list of all parameters with there value as allocated lists.

Returns:
list of key-value pairs

Reimplemented from Configurable.

virtual bool setParam ( const paramkey & key,

paramval val

) [inline, virtual]

sets the value of the given parameter or does nothing if unknown.

Reimplemented from Configurable.