controller_ilc.cpp 1.06 KB
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#include "controller_ilc.hpp"

#include "cppitasc/coordination/p_controller.hpp"
#include "cppitasc/coordination/pd_controller.hpp"
#include "cppitasc/coordination/velocity_controller.hpp"

class PControllerILC : public ILC<PController>
{
public:
    PControllerILC(const string& name)
        : ILC<PController>(name)
    {}
};


class TanHControllerILC : public ILC<TanHController>
{
public:
    TanHControllerILC(const string& name)
        : ILC<TanHController>(name)
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    {
        pi_error_named("TanHControllerILC", "Tanh controller adaption for ILC not implemented!");
    }
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};


class FirstOrderImpedanceILC : public ILC<FirstOrderImpedance>
{
public:
    FirstOrderImpedanceILC(const string& name)
        : ILC<FirstOrderImpedance>(name)
    {}
};


class VelocityControllerILC : public ILC<VelocityController>
{
public:
    VelocityControllerILC(const string& name)
        : ILC<VelocityController>(name)
    {}
};



RUNTIME_COMPONENT(PControllerILC)
RUNTIME_COMPONENT(TanHControllerILC)
RUNTIME_COMPONENT(FirstOrderImpedanceILC)
RUNTIME_COMPONENT(VelocityControllerILC)