sdurw_control module

class sdurw_control.Controller(*args, **kwargs)

Bases: object

interface that defines functionality for control of devices and actuators

getName() → std::string const &

get the unique name of this controller

Return type

string

Returns

name of the controller.

setName(name: std::string const &) → void

set the name of the controller

Parameters

name (string) – [in] the name

property thisown

The membership flag

class sdurw_control.ControllerPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → Controller *
getName() → std::string const &

get the unique name of this controller

Return type

string

Returns

name of the controller.

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
setName(name: std::string const &) → void

set the name of the controller

Parameters

name (string) – [in] the name

property thisown

The membership flag

class sdurw_control.JointController(*args, **kwargs)

Bases: object

the joint controller interface describe how to input to a joint controller. The output Force, Vel, Pos… must be available in the class implementing JointController interface

CNT_POSITION = 2
CURRENT = 16
FORCE = 8
POSITION = 1
VELOCITY = 4
getControlModes() → unsigned int

gets the control mode mask. Defines which types of control the JointController supports

getModel() → Device &

get kinematic model of device that is controlled

getQ() → rw::math::Q

return the current position of the controlled robot

getQd() → rw::math::Q

return the current velocity

setControlMode(mode: JointController::ControlMode) → void

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals: Q) → void

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals: Q) → void

sets the target joint value for the current control mode.

setTargetVel(vals: Q) → void

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag

class sdurw_control.JointControllerPtr(*args)

Bases: object

The Ptr type represents a smart pointer that can take ownership of the underlying object.

If the underlying object is owned by the smart pointer, it is destructed when there is no more smart pointers pointing to the object.

get() → JointController *
getControlModes() → unsigned int

gets the control mode mask. Defines which types of control the JointController supports

getModel() → Device &

get kinematic model of device that is controlled

getQ() → rw::math::Q

return the current position of the controlled robot

getQd() → rw::math::Q

return the current velocity

isNull() → bool

Check if smart pointer is null.

Return type

boolean

Returns

true if smart pointer is null.

isShared() → bool
setControlMode(mode: JointController::ControlMode) → void

sets the control mode of this JointController. If the mode is unsupported an exception is thrown

setTargetAcc(vals: Q) → void

sets the target acceleration

Parameters

vals (Q) – [in] in m/s^2

setTargetPos(vals: Q) → void

sets the target joint value for the current control mode.

setTargetVel(vals: Q) → void

sets the target velocity

Parameters

vals (Q) – [in] in m/s

property thisown

The membership flag