Drake
StateFeedbackControllerInterface< T > Class Template Referenceabstract

Interface for state feedback controllers. More...

#include <systems/controllers/state_feedback_controller_interface.h>

Inheritance diagram for StateFeedbackControllerInterface< T >:
[legend]

Public Member Functions

virtual const InputPortDescriptor< T > & get_input_port_estimated_state () const =0
 Returns the input port for the estimated state. More...
 
virtual const InputPortDescriptor< T > & get_input_port_desired_state () const =0
 Returns the input port for the desired state. More...
 
virtual const OutputPort< T > & get_output_port_control () const =0
 Returns the output port for computed control. More...
 
Does not allow copy, move, or assignment
 StateFeedbackControllerInterface (const StateFeedbackControllerInterface &)=delete
 
StateFeedbackControllerInterfaceoperator= (const StateFeedbackControllerInterface &)=delete
 
 StateFeedbackControllerInterface (StateFeedbackControllerInterface &&)=delete
 
StateFeedbackControllerInterfaceoperator= (StateFeedbackControllerInterface &&)=delete
 

Protected Member Functions

 StateFeedbackControllerInterface ()
 
virtual ~StateFeedbackControllerInterface ()
 

Detailed Description

template<typename T>
class drake::systems::controllers::StateFeedbackControllerInterface< T >

Interface for state feedback controllers.

This class needs to be extended by concrete implementations. It provides named accessors to actual and desired state input ports and control output port.

Constructor & Destructor Documentation

StateFeedbackControllerInterface ( )
inlineprotected
virtual ~StateFeedbackControllerInterface ( )
inlineprotectedvirtual

Member Function Documentation

virtual const InputPortDescriptor<T>& get_input_port_desired_state ( ) const
pure virtual

Returns the input port for the desired state.

Implemented in PidController< T >, InverseDynamicsController< T >, and ManipulatorJointSpaceController.

virtual const InputPortDescriptor<T>& get_input_port_estimated_state ( ) const
pure virtual

Returns the input port for the estimated state.

Implemented in PidController< T >, InverseDynamicsController< T >, and ManipulatorJointSpaceController.

Here is the caller graph for this function:

virtual const OutputPort<T>& get_output_port_control ( ) const
pure virtual

Returns the output port for computed control.

Implemented in PidController< T >, ManipulatorJointSpaceController, and InverseDynamicsController< T >.

Here is the caller graph for this function:


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