control/BodyController.hpp File Reference

A Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body. More...

#include <rw/core/Ptr.hpp>
#include <rw/math/VelocityScrew6D.hpp>
#include <rw/trajectory/Trajectory.hpp>
#include <rwlibs/control/Controller.hpp>
#include <rwlibs/simulation/SimulatedController.hpp>
#include <boost/thread/mutex.hpp>

Classes
class	BodyController
	A Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body. More...

Namespaces
	rwsim
	RobWorkSim is the dynamic simulation framework of RobWork.

Detailed Description

A Controller that use a PD loop to follow a trajectory generated from different target types. If the body is a Kinematic body then the velocities of the body is directly controlled, else wrenches are used to control the body.