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 const InputPort< T > &	get_input_port_estimated_state () const =0
	Returns the input port for the estimated state. More...
virtual const InputPort< 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
StateFeedbackControllerInterface &	operator= (const StateFeedbackControllerInterface &)=delete
	StateFeedbackControllerInterface (StateFeedbackControllerInterface &&)=delete
StateFeedbackControllerInterface &	operator= (StateFeedbackControllerInterface &&)=delete

Protected Member Functions
	StateFeedbackControllerInterface ()
virtual	~StateFeedbackControllerInterface ()

Constructor & Destructor Documentation

StateFeedbackControllerInterface() [1/3]

StateFeedbackControllerInterface ( const StateFeedbackControllerInterface< T > &  )

delete

StateFeedbackControllerInterface() [2/3]

StateFeedbackControllerInterface ( StateFeedbackControllerInterface< T > &&  )

delete

StateFeedbackControllerInterface() [3/3]

StateFeedbackControllerInterface ( )

protected

~StateFeedbackControllerInterface()

virtual ~StateFeedbackControllerInterface ( )

protectedvirtual

Member Function Documentation

get_input_port_desired_state()

virtual const InputPort<T>& get_input_port_desired_state ( ) const

pure virtual

Returns the input port for the desired state.

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

get_input_port_estimated_state()

virtual const InputPort<T>& get_input_port_estimated_state ( ) const

pure virtual

Returns the input port for the estimated state.

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

get_output_port_control()

virtual const OutputPort<T>& get_output_port_control ( ) const

pure virtual

Returns the output port for computed control.

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

operator=() [1/2]

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

delete

operator=() [2/2]

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