StateFeedbackControllerInterface< T > Class Template Reference

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.

#include <drake/systems/controllers/state_feedback_controller_interface.h>

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

Protected Member Functions
	StateFeedbackControllerInterface ()

Constructor & Destructor Documentation

StateFeedbackControllerInterface() [1/3]

template<typename T>

StateFeedbackControllerInterface ( const StateFeedbackControllerInterface< T > & )

delete

StateFeedbackControllerInterface() [2/3]

template<typename T>

StateFeedbackControllerInterface ( StateFeedbackControllerInterface< T > && )

delete

~StateFeedbackControllerInterface()

template<typename T>

virtual ~StateFeedbackControllerInterface ( )

virtual

StateFeedbackControllerInterface() [3/3]

template<typename T>

StateFeedbackControllerInterface ( )

protected

Member Function Documentation

get_input_port_desired_state()

template<typename T>

virtual const InputPort< T > & get_input_port_desired_state ( ) const

pure virtual

Returns the input port for the desired state.

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

get_input_port_estimated_state()

template<typename T>

virtual const InputPort< T > & get_input_port_estimated_state ( ) const

pure virtual

Returns the input port for the estimated state.

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

get_output_port_control()

template<typename T>

virtual const OutputPort< T > & get_output_port_control ( ) const

pure virtual

Returns the output port for computed control.

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

operator=() [1/2]

template<typename T>

StateFeedbackControllerInterface & operator= ( const StateFeedbackControllerInterface< T > & )

delete

operator=() [2/2]

template<typename T>

StateFeedbackControllerInterface & operator= ( StateFeedbackControllerInterface< T > && )

delete

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

• drake/systems/controllers/state_feedback_controller_interface.h