iCub-main
tuning.h
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1 /*
2  * Copyright (C) 2006-2018 Istituto Italiano di Tecnologia (IIT)
3  * Copyright (C) 2006-2010 RobotCub Consortium
4  * All rights reserved.
5  *
6  * This software may be modified and distributed under the terms
7  * of the BSD-3-Clause license. See the accompanying LICENSE file for
8  * details.
9 */
10 
22 #ifndef __TUNING_H__
23 #define __TUNING_H__
24 
25 #include <mutex>
26 #include <condition_variable>
27 
28 #include <yarp/os/all.h>
29 #include <yarp/dev/all.h>
30 #include <yarp/sig/all.h>
31 #include <iCub/ctrl/math.h>
32 #include <iCub/ctrl/pids.h>
33 #include <iCub/ctrl/kalman.h>
34 #include <iCub/ctrl/filters.h>
35 #include <iCub/ctrl/minJerkCtrl.h>
37 
38 
39 namespace iCub
40 {
41 
42 namespace ctrl
43 {
44 
61 {
62 protected:
63  yarp::sig::Matrix A;
64  yarp::sig::Matrix F;
65  yarp::sig::Vector B;
66  yarp::sig::Matrix C;
67  yarp::sig::Matrix Ct;
68  yarp::sig::Matrix Q;
69  yarp::sig::Matrix P;
70  yarp::sig::Vector x;
71  yarp::sig::Vector _x;
72  double uOld;
73  double Ts;
74  double R;
75 
76 public:
81 
95  bool init(const double Ts, const double Q, const double R,
96  const double P0, const yarp::sig::Vector &x0);
97 
106  bool init(const double P0, const yarp::sig::Vector &x0);
107 
118  yarp::sig::Vector estimate(const double u, const double y);
119 
126  yarp::sig::Vector get_x() const { return _x; }
127 
133  yarp::sig::Matrix get_P() const { return P; }
134 
140  yarp::sig::Vector get_parameters() const { return _x.subVector(2,3); }
141 };
142 
143 
155 class OnlineStictionEstimator : public yarp::os::PeriodicThread
156 {
157 protected:
158  yarp::dev::IControlMode *imod;
159  yarp::dev::IControlLimits *ilim;
160  yarp::dev::IEncoders *ienc;
161  yarp::dev::IPidControl *ipid;
162  yarp::dev::IPWMControl *ipwm;
163  yarp::dev::ICurrentControl *icur;
164 
165  std::mutex mtx;
166  std::mutex mtx_doneEvent;
167  std::condition_variable cv_doneEvent;
168  yarp::sig::Vector gamma;
169  yarp::sig::Vector stiction;
170  yarp::os::Property info;
171  yarp::sig::Vector done;
172 
178 
179  int joint;
180  double dpos_dV;
181  double t0,T;
182  double x_min,x_max;
183  double x_pos,x_vel,x_acc;
184  double Kp,Ki,Kd;
186  double tg,xd_pos;
190 
191  enum
192  {
195  } state;
196 
197  void applyStictionLimit();
198  bool threadInit();
199  void run();
200  void threadRelease();
201 
202  // prevent user from calling them directly
203  bool start();
204  void stop();
205 
206 public:
211 
256  virtual bool configure(yarp::dev::PolyDriver &driver, const yarp::os::Property &options);
257 
264  virtual bool reconfigure(const yarp::os::Property &options);
265 
271  virtual bool isConfigured() const { return configured; }
272 
278  virtual bool startEstimation() { return PeriodicThread::start(); }
279 
285  virtual bool isDone();
286 
293  virtual bool waitUntilDone();
294 
298  virtual void stopEstimation() { PeriodicThread::stop(); }
299 
308  virtual bool getResults(yarp::sig::Vector &results);
309 
322  virtual bool getInfo(yarp::os::Property &info);
323 
328 };
329 
330 
347 class OnlineCompensatorDesign : public yarp::os::PeriodicThread
348 {
349 protected:
353 
354  yarp::dev::IControlMode *imod;
355  yarp::dev::IControlLimits *ilim;
356  yarp::dev::IEncoders *ienc;
357  yarp::dev::IPositionControl *ipos;
358  yarp::dev::IPositionDirect *idir;
359  yarp::dev::IPidControl *ipid;
360  yarp::dev::IPWMControl *ipwm;
361  yarp::dev::ICurrentControl *icur;
362  yarp::dev::Pid *pidCur;
363  yarp::dev::Pid pidOld;
364  yarp::dev::Pid pidNew;
365 
366  std::mutex mtx;
367  std::mutex mtx_doneEvent;
368  std::condition_variable cv_doneEvent;
369  yarp::os::BufferedPort<yarp::sig::Vector> port;
370 
371  yarp::sig::Vector x0;
372  yarp::sig::Vector meanParams;
373  int meanCnt;
374  double P0;
375 
376  int joint;
377  double t0,t1;
378  double x_min,x_max,x_tg;
391  bool pwm_pos;
393 
394  enum
395  {
400  } mode;
401 
402  void commandJoint(double &enc, double &u);
403  bool threadInit();
404  void run();
405  void threadRelease();
406 
407  // prevent user from calling them directly
408  bool start();
409  void stop();
410 
411 public:
416 
463  virtual bool configure(yarp::dev::PolyDriver &driver, const yarp::os::Property &options);
464 
470  virtual bool isConfigured() const { return configured; }
471 
515  virtual bool tuneController(const yarp::os::Property &options, yarp::os::Property &results);
516 
534  virtual bool startPlantEstimation(const yarp::os::Property &options);
535 
564  virtual bool startPlantValidation(const yarp::os::Property &options);
565 
583  virtual bool startStictionEstimation(const yarp::os::Property &options);
584 
629  virtual bool startControllerValidation(const yarp::os::Property &options);
630 
636  virtual bool isDone();
637 
643  virtual bool waitUntilDone();
644 
648  virtual void stopOperation() { PeriodicThread::stop(); }
649 
669  virtual bool getResults(yarp::os::Property &results);
670 
674  virtual ~OnlineCompensatorDesign();
675 };
676 
677 }
678 
679 }
680 
681 #endif
682 
683 
684 
iCub::ctrl::OnlineStictionEstimator::Kp
double Kp
Definition: tuning.h:184
iCub::ctrl::OnlineCompensatorDesign::start
bool start()
iCub::ctrl::OnlineCompensatorDesign::stop
void stop()
iCub::ctrl::OnlineCompensatorDesign::cv_doneEvent
std::condition_variable cv_doneEvent
Definition: tuning.h:368
iCub::ctrl::OnlineCompensatorDesign::controller_validation
@ controller_validation
Definition: tuning.h:399
iCub::ctrl::OnlineStictionEstimator::x_min
double x_min
Definition: tuning.h:182
iCub::ctrl::OnlineCompensatorDesign::controller_validation_ref_sustain_time
double controller_validation_ref_sustain_time
Definition: tuning.h:385
iCub::ctrl::OnlineDCMotorEstimator::R
double R
Definition: tuning.h:74
iCub::ctrl::OnlineCompensatorDesign::ilim
yarp::dev::IControlLimits * ilim
Definition: tuning.h:355
iCub::ctrl::AWQuadEstimator
Definition: adaptWinPolyEstimator.h:207
iCub
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
Definition: emotionInterface.h:17
iCub::ctrl::Integrator
Definition: pids.h:47
iCub::ctrl::OnlineCompensatorDesign::pidCur
yarp::dev::Pid * pidCur
Definition: tuning.h:362
iCub::ctrl::OnlineStictionEstimator::gamma
yarp::sig::Vector gamma
Definition: tuning.h:168
iCub::ctrl::OnlineStictionEstimator::mtx_doneEvent
std::mutex mtx_doneEvent
Definition: tuning.h:166
iCub::ctrl::OnlineStictionEstimator::vel_thres
double vel_thres
Definition: tuning.h:185
iCub::ctrl::OnlineCompensatorDesign::max_pwm
double max_pwm
Definition: tuning.h:379
iCub::ctrl::OnlineStictionEstimator::tg
double tg
Definition: tuning.h:186
iCub::ctrl::OnlineStictionEstimator::x_vel
double x_vel
Definition: tuning.h:183
iCub::ctrl::OnlineCompensatorDesign::controller_validation_num_cycles
int controller_validation_num_cycles
Definition: tuning.h:387
iCub::ctrl::OnlineStictionEstimator::T
double T
Definition: tuning.h:181
iCub::ctrl::OnlineCompensatorDesign::run
void run()
Definition: tuning.cpp:646
iCub::ctrl::OnlineStictionEstimator::waitUntilDone
virtual bool waitUntilDone()
Wait until the condition |e_mean|<e_thres is met.
Definition: tuning.cpp:405
iCub::ctrl::OnlineDCMotorEstimator::get_P
yarp::sig::Matrix get_P() const
Return the estimated error covariance.
Definition: tuning.h:133
iCub::ctrl::OnlineDCMotorEstimator::Ct
yarp::sig::Matrix Ct
Definition: tuning.h:67
iCub::ctrl::OnlineStictionEstimator::xd_pos
double xd_pos
Definition: tuning.h:186
iCub::ctrl::OnlineCompensatorDesign::predictor
Kalman predictor
Definition: tuning.h:352
iCub::ctrl::OnlineDCMotorEstimator
Definition: tuning.h:60
iCub::ctrl::OnlineCompensatorDesign::controller_validation_stiction_up
double controller_validation_stiction_up
Definition: tuning.h:389
iCub::ctrl::OnlineDCMotorEstimator::_x
yarp::sig::Vector _x
Definition: tuning.h:71
iCub::ctrl::OnlineCompensatorDesign::x_max
double x_max
Definition: tuning.h:378
iCub::ctrl::OnlineCompensatorDesign::x0
yarp::sig::Vector x0
Definition: tuning.h:371
iCub::ctrl::OnlineStictionEstimator::ilim
yarp::dev::IControlLimits * ilim
Definition: tuning.h:159
iCub::ctrl::OnlineStictionEstimator::Kd
double Kd
Definition: tuning.h:184
iCub::ctrl::OnlineDCMotorEstimator::OnlineDCMotorEstimator
OnlineDCMotorEstimator()
Default constructor.
Definition: tuning.cpp:30
iCub::ctrl::OnlineDCMotorEstimator::F
yarp::sig::Matrix F
Definition: tuning.h:64
iCub::ctrl::OnlineCompensatorDesign
Definition: tuning.h:347
iCub::ctrl::minJerkTrajGen
Definition: minJerkCtrl.h:351
iCub::ctrl::OnlineCompensatorDesign::ipwm
yarp::dev::IPWMControl * ipwm
Definition: tuning.h:360
iCub::ctrl::OnlineCompensatorDesign::waitUntilDone
virtual bool waitUntilDone()
Wait until the current ongoing operation is accomplished.
Definition: tuning.cpp:1035
iCub::ctrl::OnlineDCMotorEstimator::A
yarp::sig::Matrix A
Definition: tuning.h:63
iCub::ctrl::OnlineCompensatorDesign::mode
enum iCub::ctrl::OnlineCompensatorDesign::@2 mode
iCub::ctrl::OnlineCompensatorDesign::P0
double P0
Definition: tuning.h:374
iCub::ctrl::OnlineCompensatorDesign::OnlineCompensatorDesign
OnlineCompensatorDesign()
Default constructor.
Definition: tuning.cpp:442
iCub::ctrl::OnlineStictionEstimator::start
bool start()
stop
static int stop
Definition: iCub_Sim.cpp:41
iCub::ctrl::OnlineStictionEstimator::stop
void stop()
iCub::ctrl::OnlineStictionEstimator::done
yarp::sig::Vector done
Definition: tuning.h:171
iCub::ctrl::OnlineStictionEstimator::isConfigured
virtual bool isConfigured() const
Check the configuration status.
Definition: tuning.h:271
iCub::ctrl::OnlineStictionEstimator::adapt
bool adapt
Definition: tuning.h:188
iCub::ctrl::OnlineCompensatorDesign::configure
virtual bool configure(yarp::dev::PolyDriver &driver, const yarp::os::Property &options)
Configure the design.
Definition: tuning.cpp:459
iCub::ctrl::OnlineStictionEstimator::~OnlineStictionEstimator
virtual ~OnlineStictionEstimator()
Destructor.
Definition: tuning.h:327
iCub::ctrl::OnlineStictionEstimator::e_thres
double e_thres
Definition: tuning.h:185
iCub::ctrl::OnlineCompensatorDesign::joint
int joint
Definition: tuning.h:376
math.h
filters.h
iCub::ctrl::OnlineStictionEstimator::falling
@ falling
Definition: tuning.h:194
iCub::ctrl::OnlineCompensatorDesign::meanParams
yarp::sig::Vector meanParams
Definition: tuning.h:372
iCub::ctrl::OnlineCompensatorDesign::plant_estimation
@ plant_estimation
Definition: tuning.h:396
iCub::ctrl::OnlineCompensatorDesign::startStictionEstimation
virtual bool startStictionEstimation(const yarp::os::Property &options)
Start off the stiction estimation procedure.
Definition: tuning.cpp:953
iCub::ctrl::OnlineDCMotorEstimator::B
yarp::sig::Vector B
Definition: tuning.h:65
iCub::ctrl::OnlineCompensatorDesign::measure_update_ticks
int measure_update_ticks
Definition: tuning.h:381
iCub::ctrl::OnlineCompensatorDesign::controller_validation_ref_square
bool controller_validation_ref_square
Definition: tuning.h:383
iCub::ctrl::OnlineCompensatorDesign::ipos
yarp::dev::IPositionControl * ipos
Definition: tuning.h:357
iCub::ctrl::OnlineCompensatorDesign::ipid
yarp::dev::IPidControl * ipid
Definition: tuning.h:359
iCub::ctrl::OnlineCompensatorDesign::x_tg
double x_tg
Definition: tuning.h:378
iCub::ctrl::OnlineDCMotorEstimator::x
yarp::sig::Vector x
Definition: tuning.h:70
iCub::ctrl::OnlineCompensatorDesign::ienc
yarp::dev::IEncoders * ienc
Definition: tuning.h:356
iCub::ctrl::OnlineCompensatorDesign::threadRelease
void threadRelease()
Definition: tuning.cpp:803
iCub::ctrl::OnlineStictionEstimator::ipwm
yarp::dev::IPWMControl * ipwm
Definition: tuning.h:162
iCub::ctrl::OnlineDCMotorEstimator::init
bool init(const double Ts, const double Q, const double R, const double P0, const yarp::sig::Vector &x0)
Initialize the estimation.
iCub::ctrl::OnlineCompensatorDesign::stopOperation
virtual void stopOperation()
Stop any ongoing operation.
Definition: tuning.h:648
iCub::ctrl::OnlineDCMotorEstimator::C
yarp::sig::Matrix C
Definition: tuning.h:66
iCub::ctrl::OnlineDCMotorEstimator::Q
yarp::sig::Matrix Q
Definition: tuning.h:68
iCub::ctrl::OnlineStictionEstimator::velEst
AWLinEstimator velEst
Definition: tuning.h:173
iCub::ctrl::OnlineStictionEstimator::getInfo
virtual bool getInfo(yarp::os::Property &info)
Retrieve useful information about the estimation experiment.
Definition: tuning.cpp:430
iCub::ctrl::OnlineCompensatorDesign::startPlantValidation
virtual bool startPlantValidation(const yarp::os::Property &options)
Start off the plant validation procedure.
Definition: tuning.cpp:905
iCub::ctrl::OnlineCompensatorDesign::port
yarp::os::BufferedPort< yarp::sig::Vector > port
Definition: tuning.h:369
iCub::ctrl::parallelPID
Definition: pids.h:210
iCub::ctrl::OnlineStictionEstimator::startEstimation
virtual bool startEstimation()
Start off the estimation procedure.
Definition: tuning.h:278
iCub::ctrl::OnlineCompensatorDesign::controller_validation_ref_period
double controller_validation_ref_period
Definition: tuning.h:384
iCub::ctrl::OnlineCompensatorDesign::imod
yarp::dev::IControlMode * imod
Definition: tuning.h:354
iCub::ctrl::OnlineCompensatorDesign::startPlantEstimation
virtual bool startPlantEstimation(const yarp::os::Property &options)
Start off the plant estimation procedure.
Definition: tuning.cpp:891
iCub::ctrl::OnlineCompensatorDesign::threadInit
bool threadInit()
Definition: tuning.cpp:547
iCub::ctrl::Kalman
Definition: kalman.h:41
iCub::ctrl::OnlineStictionEstimator::threadInit
bool threadInit()
Definition: tuning.cpp:263
iCub::ctrl::OnlineCompensatorDesign::t1
double t1
Definition: tuning.h:377
iCub::ctrl::OnlineStictionEstimator::icur
yarp::dev::ICurrentControl * icur
Definition: tuning.h:163
iCub::ctrl::OnlineCompensatorDesign::stiction
OnlineStictionEstimator stiction
Definition: tuning.h:351
y
y
Definition: show_eyes_axes.m:21
iCub::ctrl::OnlineStictionEstimator::cv_doneEvent
std::condition_variable cv_doneEvent
Definition: tuning.h:167
iCub::ctrl::OnlineCompensatorDesign::t0
double t0
Definition: tuning.h:377
iCub::ctrl::OnlineCompensatorDesign::switch_timeout
double switch_timeout
Definition: tuning.h:380
iCub::ctrl::OnlineStictionEstimator::configure
virtual bool configure(yarp::dev::PolyDriver &driver, const yarp::os::Property &options)
Configure the estimation.
Definition: tuning.cpp:150
iCub::ctrl::OnlineCompensatorDesign::pidNew
yarp::dev::Pid pidNew
Definition: tuning.h:364
iCub::ctrl::OnlineCompensatorDesign::controller_validation_stiction_yarp
bool controller_validation_stiction_yarp
Definition: tuning.h:388
iCub::ctrl::OnlineDCMotorEstimator::P
yarp::sig::Matrix P
Definition: tuning.h:69
iCub::ctrl::OnlineDCMotorEstimator::estimate
yarp::sig::Vector estimate(const double u, const double y)
Estimate the state vector given the current input and the current measurement.
Definition: tuning.cpp:84
iCub::ctrl::OnlineDCMotorEstimator::Ts
double Ts
Definition: tuning.h:73
iCub::ctrl::OnlineStictionEstimator::state
enum iCub::ctrl::OnlineStictionEstimator::@1 state
iCub::ctrl::OnlineStictionEstimator::info
yarp::os::Property info
Definition: tuning.h:170
iCub::ctrl::OnlineStictionEstimator::x_pos
double x_pos
Definition: tuning.h:183
iCub::ctrl::OnlineCompensatorDesign::isConfigured
virtual bool isConfigured() const
Check the configuration status.
Definition: tuning.h:470
iCub::ctrl::OnlineStictionEstimator::applyStictionLimit
void applyStictionLimit()
Definition: tuning.cpp:255
iCub::ctrl::OnlineCompensatorDesign::commandJoint
void commandJoint(double &enc, double &u)
Definition: tuning.cpp:617
iCub::ctrl::OnlineCompensatorDesign::controller_validation_stiction_down
double controller_validation_stiction_down
Definition: tuning.h:390
iCub::ctrl::OnlineCompensatorDesign::x_min
double x_min
Definition: tuning.h:378
iCub::ctrl::OnlineCompensatorDesign::dpos_dV
double dpos_dV
Definition: tuning.h:379
iCub::ctrl::OnlineCompensatorDesign::measure_update_cnt
int measure_update_cnt
Definition: tuning.h:382
iCub::ctrl::OnlineStictionEstimator::x_acc
double x_acc
Definition: tuning.h:183
iCub::ctrl::OnlineStictionEstimator::joint
int joint
Definition: tuning.h:179
iCub::ctrl::OnlineCompensatorDesign::idir
yarp::dev::IPositionDirect * idir
Definition: tuning.h:358
iCub::ctrl::OnlineStictionEstimator::stiction
yarp::sig::Vector stiction
Definition: tuning.h:169
iCub::ctrl::OnlineCompensatorDesign::icur
yarp::dev::ICurrentControl * icur
Definition: tuning.h:361
iCub::ctrl::OnlineCompensatorDesign::mtx
std::mutex mtx
Definition: tuning.h:366
iCub::ctrl::OnlineCompensatorDesign::stiction_estimation
@ stiction_estimation
Definition: tuning.h:398
iCub::ctrl::OnlineStictionEstimator::intErr
Integrator intErr
Definition: tuning.h:176
iCub::ctrl::OnlineCompensatorDesign::plant_validation
@ plant_validation
Definition: tuning.h:397
iCub::ctrl::OnlineCompensatorDesign::meanCnt
int meanCnt
Definition: tuning.h:373
iCub::ctrl::OnlineDCMotorEstimator::get_parameters
yarp::sig::Vector get_parameters() const
Return the system parameters.
Definition: tuning.h:140
adaptWinPolyEstimator.h
iCub::ctrl::OnlineStictionEstimator::t0
double t0
Definition: tuning.h:181
iCub::ctrl::OnlineStictionEstimator::ipid
yarp::dev::IPidControl * ipid
Definition: tuning.h:161
iCub::ctrl::AWLinEstimator
Definition: adaptWinPolyEstimator.h:184
minJerkCtrl.h
iCub::ctrl::OnlineDCMotorEstimator::get_x
yarp::sig::Vector get_x() const
Return the estimated state.
Definition: tuning.h:126
iCub::ctrl::OnlineStictionEstimator::reconfigure
virtual bool reconfigure(const yarp::os::Property &options)
Reconfigure the estimation after first initialization.
Definition: tuning.cpp:199
iCub::ctrl::OnlineCompensatorDesign::controller_validation_cycles_to_switch
int controller_validation_cycles_to_switch
Definition: tuning.h:386
iCub::ctrl::OnlineStictionEstimator::threadRelease
void threadRelease()
Definition: tuning.cpp:382
iCub::ctrl::OnlineStictionEstimator::Ki
double Ki
Definition: tuning.h:184
iCub::ctrl::OnlineStictionEstimator::pid
parallelPID * pid
Definition: tuning.h:175
iCub::ctrl::OnlineCompensatorDesign::max_time
double max_time
Definition: tuning.h:379
iCub::ctrl::OnlineStictionEstimator::getResults
virtual bool getResults(yarp::sig::Vector &results)
Retrieve the estimation.
Definition: tuning.cpp:418
iCub::ctrl::OnlineCompensatorDesign::mtx_doneEvent
std::mutex mtx_doneEvent
Definition: tuning.h:367
iCub::ctrl::OnlineStictionEstimator::isDone
virtual bool isDone()
Check the current estimation status.
Definition: tuning.cpp:393
kalman.h
iCub::ctrl::OnlineStictionEstimator::mtx
std::mutex mtx
Definition: tuning.h:165
iCub::ctrl::OnlineCompensatorDesign::plant
OnlineDCMotorEstimator plant
Definition: tuning.h:350
iCub::ctrl::OnlineCompensatorDesign::startControllerValidation
virtual bool startControllerValidation(const yarp::os::Property &options)
Start off the controller validation procedure.
Definition: tuning.cpp:971
iCub::ctrl::OnlineStictionEstimator::x_max
double x_max
Definition: tuning.h:182
iCub::ctrl::OnlineCompensatorDesign::pwm_pos
bool pwm_pos
Definition: tuning.h:391
iCub::ctrl::OnlineStictionEstimator::dpos_dV
double dpos_dV
Definition: tuning.h:180
iCub::ctrl::OnlineStictionEstimator::trajGen
minJerkTrajGen trajGen
Definition: tuning.h:177
iCub::ctrl::OnlineStictionEstimator::stiction_limit
double stiction_limit
Definition: tuning.h:187
iCub::ctrl::OnlineStictionEstimator::stopEstimation
virtual void stopEstimation()
Stop the estimation procedure.
Definition: tuning.h:298
iCub::ctrl::OnlineDCMotorEstimator::uOld
double uOld
Definition: tuning.h:72
iCub::ctrl::OnlineCompensatorDesign::getResults
virtual bool getResults(yarp::os::Property &results)
Retrieve the results of the current ongoing operation.
Definition: tuning.cpp:1048
iCub::ctrl::OnlineCompensatorDesign::~OnlineCompensatorDesign
virtual ~OnlineCompensatorDesign()
Destructor.
Definition: tuning.cpp:1115
iCub::ctrl::OnlineStictionEstimator
Definition: tuning.h:155
iCub::ctrl::OnlineStictionEstimator::run
void run()
Definition: tuning.cpp:315
iCub::ctrl::OnlineStictionEstimator::OnlineStictionEstimator
OnlineStictionEstimator()
Default constructor.
Definition: tuning.cpp:135
iCub::ctrl::OnlineCompensatorDesign::tuneController
virtual bool tuneController(const yarp::os::Property &options, yarp::os::Property &results)
Tune the controller once given the plant characteristics.
Definition: tuning.cpp:838
iCub::ctrl::OnlineStictionEstimator::rising
@ rising
Definition: tuning.h:193
pids.h
iCub::ctrl::OnlineCompensatorDesign::isDone
virtual bool isDone()
Check the status of the current ongoing operation.
Definition: tuning.cpp:1025
iCub::ctrl::OnlineStictionEstimator::configured
bool configured
Definition: tuning.h:189
iCub::ctrl::OnlineCompensatorDesign::configured
bool configured
Definition: tuning.h:392
iCub::ctrl::OnlineStictionEstimator::ienc
yarp::dev::IEncoders * ienc
Definition: tuning.h:160
iCub::ctrl::OnlineStictionEstimator::adaptOld
bool adaptOld
Definition: tuning.h:188
iCub::ctrl::OnlineCompensatorDesign::pidOld
yarp::dev::Pid pidOld
Definition: tuning.h:363
iCub::ctrl::OnlineStictionEstimator::imod
yarp::dev::IControlMode * imod
Definition: tuning.h:158
iCub::ctrl::OnlineStictionEstimator::accEst
AWQuadEstimator accEst
Definition: tuning.h:174