ControlledDynamicalSystem class
The ControlledDynamicalSystem class allows to easily connect a DynamicalSystem with a Controller.
It defines a controlled dynamical system that can be integrated using an Integrator class.
Constructors, destructors, conversion operators
- ControlledDynamicalSystem()
- ControlledDynamicalSystem(const ControlledDynamicalSystem& other) deleted
- ~ControlledDynamicalSystem()
Public functions
- auto setDynamicalSystem(std::shared_ptr<DynamicalSystem> autonomousSystem, bool usePreviousController = false) -> bool
- Set the DynamicalSystem pointer.
- auto setController(std::shared_ptr<Controller> controller) -> bool
- Set the controller pointer.
- auto asDynamicalSystem() -> std::shared_ptr<DynamicalSystem>
- Returns a pointer to a DynamicalSystem object.
Function documentation
bool iDynTree::
Set the DynamicalSystem pointer.
| Parameters | |
|---|---|
| autonomousSystem in | The DynamicalSystem pointer. |
| usePreviousController | A flag specifying whether the previously specified controller should be used. Default is false. |
| Returns | True if successfull. Possible sources of failures: empty pointer, usePreviouController is true and the dynamicalSystem and the previous controller are not compatible. |
The usePreviousController flag allows to use again the controller stored in memory after a previous call to setController. This allow to call the method setController before setting the dynamical system.
bool iDynTree::
Set the controller pointer.
| Parameters | |
|---|---|
| controller in | Controller pointer. |
| Returns | True if successfull. Possible causes of failures: empty pointer, the controller is not compatible with the already specified dynamical system. |
std::shared_ptr<DynamicalSystem> iDynTree::
Returns a pointer to a DynamicalSystem object.
| Returns | A pointer to a DynamicalSystem object. |
|---|
The DynamicalSystem pointer can be used inside an Integrator.