deploy: 4a238f4

CartesianForceController_8hpp.html

@@ -61,6 +61,7 @@
 <code>#include &lt;base/samples/Wrenches.hpp&gt;</code><br />
 <code>#include &lt;base/samples/RigidBodyState.hpp&gt;</code><br />
 <code>#include &lt;base/samples/RigidBodyStateSE3.hpp&gt;</code><br />
+<code>#include &lt;wbc/controllers/CartesianForcePIDController.hpp&gt;</code><br />
 </div>
 <p><a href="CartesianForceController_8hpp_source.html">Go to the source code of this file.</a></p>
 <table class="memberdecls">

CartesianPositionController_8hpp.html

@@ -59,6 +59,7 @@
 <div class="contents">
 <div class="textblock"><code>#include &quot;ctrl_lib/CartesianPositionControllerBase.hpp&quot;</code><br />
 <code>#include &lt;base/samples/RigidBodyStateSE3.hpp&gt;</code><br />
+<code>#include &lt;wbc/controllers/CartesianPosPDController.hpp&gt;</code><br />
 </div>
 <p><a href="CartesianPositionController_8hpp_source.html">Go to the source code of this file.</a></p>
 <table class="memberdecls">

CartesianRadialPotentialFields_8hpp.html

@@ -59,6 +59,7 @@
 <div class="contents">
 <div class="textblock"><code>#include &quot;ctrl_lib/CartesianRadialPotentialFieldsBase.hpp&quot;</code><br />
 <code>#include &lt;base/samples/RigidBodyStateSE3.hpp&gt;</code><br />
+<code>#include &lt;wbc/controllers/PotentialFieldsController.hpp&gt;</code><br />
 </div>
 <p><a href="CartesianRadialPotentialFields_8hpp_source.html">Go to the source code of this file.</a></p>
 <table class="memberdecls">

ControllerTask_8hpp_source.html

@@ -78,10 +78,10 @@
 <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#ac4c777e55ed4517d0e26c1ecadea11de">   30</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classctrl__lib_1_1ControllerTask.html#ac4c777e55ed4517d0e26c1ecadea11de">readFeedback</a>() = 0;</div>
 <div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a203d210113ab51426a99fbdca9430384">   32</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classctrl__lib_1_1ControllerTask.html#a203d210113ab51426a99fbdca9430384">readSetpoint</a>() = 0;</div>
 <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a2be5956a4f816b2e01a20a748151bb3e">   34</a></span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classctrl__lib_1_1ControllerTask.html#a2be5956a4f816b2e01a20a748151bb3e">updateController</a>() = 0;</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a99dc4c384d939eaefcdde0fc41ed7bdb">   36</a></span>    <span class="keyword">virtual</span> <span class="keyword">const</span> base::VectorXd&amp; <a class="code hl_function" href="classctrl__lib_1_1ControllerTask.html#a99dc4c384d939eaefcdde0fc41ed7bdb">computeActivation</a>(ActivationFunction&amp; <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#a2c2c30bb6c8f164408e6c3bc82f622d7">activation_function</a>) = 0;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a4a04be0149bfe79a6db6887ed0a1f3fe">   36</a></span>    <span class="keyword">virtual</span> <span class="keyword">const</span> base::VectorXd&amp; <a class="code hl_function" href="classctrl__lib_1_1ControllerTask.html#a4a04be0149bfe79a6db6887ed0a1f3fe">computeActivation</a>(wbc::ActivationFunction&amp; <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#a2f7948cc17e2820b82c3f5b7499234bb">activation_function</a>) = 0;</div>
 <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
 <div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#aae56284d8ea44d6c7eb36326b3403b77">   38</a></span>    std::vector&lt;std::string&gt; <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#aae56284d8ea44d6c7eb36326b3403b77">field_names</a>;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a2c2c30bb6c8f164408e6c3bc82f622d7">   39</a></span>    ActivationFunction <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#a2c2c30bb6c8f164408e6c3bc82f622d7">activation_function</a>;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#a2f7948cc17e2820b82c3f5b7499234bb">   39</a></span>    wbc::ActivationFunction <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#a2f7948cc17e2820b82c3f5b7499234bb">activation_function</a>;</div>
 <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#aed1fd01e738fdf79045c65301ab413fe">   40</a></span>    base::VectorXd <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#aed1fd01e738fdf79045c65301ab413fe">tmp</a>;</div>
 <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classctrl__lib_1_1ControllerTask.html#ad5c3f0959091c89822673bfd5c441794">   41</a></span>    base::Time <a class="code hl_variable" href="classctrl__lib_1_1ControllerTask.html#ad5c3f0959091c89822673bfd5c441794">stamp</a>;</div>
 <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
@@ -104,21 +104,21 @@
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html">ctrl_lib::ControllerTask</a></div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:26</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a203d210113ab51426a99fbdca9430384"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a203d210113ab51426a99fbdca9430384">ctrl_lib::ControllerTask::readSetpoint</a></div><div class="ttdeci">virtual bool readSetpoint()=0</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a2be5956a4f816b2e01a20a748151bb3e"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a2be5956a4f816b2e01a20a748151bb3e">ctrl_lib::ControllerTask::updateController</a></div><div class="ttdeci">virtual void updateController()=0</div></div>
-<div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a2c2c30bb6c8f164408e6c3bc82f622d7"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a2c2c30bb6c8f164408e6c3bc82f622d7">ctrl_lib::ControllerTask::activation_function</a></div><div class="ttdeci">ActivationFunction activation_function</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:39</div></div>
+<div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a2f7948cc17e2820b82c3f5b7499234bb"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a2f7948cc17e2820b82c3f5b7499234bb">ctrl_lib::ControllerTask::activation_function</a></div><div class="ttdeci">wbc::ActivationFunction activation_function</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:39</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a3219ad6fb84cd0153f4600a0927743a5"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a3219ad6fb84cd0153f4600a0927743a5">ctrl_lib::ControllerTask::~ControllerTask</a></div><div class="ttdeci">~ControllerTask()</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:46</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a36e0f15092ad07bd1de5a9fb3a30a058"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a36e0f15092ad07bd1de5a9fb3a30a058">ctrl_lib::ControllerTask::errorHook</a></div><div class="ttdeci">void errorHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:57</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a4104fd35f4abf756e6584a9807e8bed9"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a4104fd35f4abf756e6584a9807e8bed9">ctrl_lib::ControllerTask::stopHook</a></div><div class="ttdeci">void stopHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:61</div></div>
+<div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a4a04be0149bfe79a6db6887ed0a1f3fe"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a4a04be0149bfe79a6db6887ed0a1f3fe">ctrl_lib::ControllerTask::computeActivation</a></div><div class="ttdeci">virtual const base::VectorXd &amp; computeActivation(wbc::ActivationFunction &amp;activation_function)=0</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a50d273f13a72d2b77e2753b62778ebf4"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a50d273f13a72d2b77e2753b62778ebf4">ctrl_lib::ControllerTask::cleanupHook</a></div><div class="ttdeci">void cleanupHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:65</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a6399e591cc43c0abc323b7a9f73be568"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a6399e591cc43c0abc323b7a9f73be568">ctrl_lib::ControllerTask::configureHook</a></div><div class="ttdeci">bool configureHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:15</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a724cc2b1175c842b63a097090700e39d"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a724cc2b1175c842b63a097090700e39d">ctrl_lib::ControllerTask::startHook</a></div><div class="ttdeci">bool startHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:25</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a8945f2afeaeaef24f07bdb250cf0e020"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a8945f2afeaeaef24f07bdb250cf0e020">ctrl_lib::ControllerTask::updateHook</a></div><div class="ttdeci">void updateHook()</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:32</div></div>
-<div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_a99dc4c384d939eaefcdde0fc41ed7bdb"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#a99dc4c384d939eaefcdde0fc41ed7bdb">ctrl_lib::ControllerTask::computeActivation</a></div><div class="ttdeci">virtual const base::VectorXd &amp; computeActivation(ActivationFunction &amp;activation_function)=0</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_aae56284d8ea44d6c7eb36326b3403b77"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#aae56284d8ea44d6c7eb36326b3403b77">ctrl_lib::ControllerTask::field_names</a></div><div class="ttdeci">std::vector&lt; std::string &gt; field_names</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:38</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_ac4c777e55ed4517d0e26c1ecadea11de"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#ac4c777e55ed4517d0e26c1ecadea11de">ctrl_lib::ControllerTask::readFeedback</a></div><div class="ttdeci">virtual bool readFeedback()=0</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_ad5c3f0959091c89822673bfd5c441794"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#ad5c3f0959091c89822673bfd5c441794">ctrl_lib::ControllerTask::stamp</a></div><div class="ttdeci">base::Time stamp</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:41</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_aed1fd01e738fdf79045c65301ab413fe"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#aed1fd01e738fdf79045c65301ab413fe">ctrl_lib::ControllerTask::tmp</a></div><div class="ttdeci">base::VectorXd tmp</div><div class="ttdef"><b>Definition</b> ControllerTask.hpp:40</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTask_html_af35f3606da79711aa281129fad59670b"><div class="ttname"><a href="classctrl__lib_1_1ControllerTask.html#af35f3606da79711aa281129fad59670b">ctrl_lib::ControllerTask::ControllerTask</a></div><div class="ttdeci">ControllerTask(std::string const &amp;name=&quot;ctrl_lib::ControllerTask&quot;)</div><div class="ttdef"><b>Definition</b> ControllerTask.cpp:7</div></div>
-<div class="ttc" id="anamespacectrl__lib_html"><div class="ttname"><a href="namespacectrl__lib.html">ctrl_lib</a></div><div class="ttdef"><b>Definition</b> CartesianForceController.hpp:11</div></div>
+<div class="ttc" id="anamespacectrl__lib_html"><div class="ttname"><a href="namespacectrl__lib.html">ctrl_lib</a></div><div class="ttdef"><b>Definition</b> CartesianForceController.hpp:12</div></div>
 </div><!-- fragment --></div><!-- contents -->
 <!-- start footer part -->
 <hr class="footer"/><address class="footer"><small>

ControllerTransformationProxy_8hpp_source.html

@@ -107,7 +107,7 @@
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTransformationProxy_html_ae5a7ad448fc0ace76bdf27fa59b7b590"><div class="ttname"><a href="classctrl__lib_1_1ControllerTransformationProxy.html#ae5a7ad448fc0ace76bdf27fa59b7b590">ctrl_lib::ControllerTransformationProxy::startHook</a></div><div class="ttdeci">bool startHook()</div><div class="ttdef"><b>Definition</b> ControllerTransformationProxy.hpp:21</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTransformationProxy_html_ae8c77869becc7f1cceca02b1828bba93"><div class="ttname"><a href="classctrl__lib_1_1ControllerTransformationProxy.html#ae8c77869becc7f1cceca02b1828bba93">ctrl_lib::ControllerTransformationProxy::errorHook</a></div><div class="ttdeci">void errorHook()</div><div class="ttdef"><b>Definition</b> ControllerTransformationProxy.hpp:23</div></div>
 <div class="ttc" id="aclassctrl__lib_1_1ControllerTransformationProxy_html_af93aa7756a2677865a29e6fca6d99ad4"><div class="ttname"><a href="classctrl__lib_1_1ControllerTransformationProxy.html#af93aa7756a2677865a29e6fca6d99ad4">ctrl_lib::ControllerTransformationProxy::cleanupHook</a></div><div class="ttdeci">void cleanupHook()</div><div class="ttdef"><b>Definition</b> ControllerTransformationProxy.hpp:25</div></div>
-<div class="ttc" id="anamespacectrl__lib_html"><div class="ttname"><a href="namespacectrl__lib.html">ctrl_lib</a></div><div class="ttdef"><b>Definition</b> CartesianForceController.hpp:11</div></div>
+<div class="ttc" id="anamespacectrl__lib_html"><div class="ttname"><a href="namespacectrl__lib.html">ctrl_lib</a></div><div class="ttdef"><b>Definition</b> CartesianForceController.hpp:12</div></div>
 </div><!-- fragment --></div><!-- contents -->
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JointLimitAvoidance_8hpp.html

@@ -59,6 +59,7 @@
 <div class="contents">
 <div class="textblock"><code>#include &quot;ctrl_lib/JointLimitAvoidanceBase.hpp&quot;</code><br />
 <code>#include &lt;base/commands/Joints.hpp&gt;</code><br />
+<code>#include &lt;wbc/controllers/JointLimitAvoidanceController.hpp&gt;</code><br />
 </div>
 <p><a href="JointLimitAvoidance_8hpp_source.html">Go to the source code of this file.</a></p>
 <table class="memberdecls">