robopal.controllers package

Submodules

• robopal.controllers.base_controller module
  • BaseController
    • BaseController.forward_kinematics()
    • BaseController.reference
    • BaseController.reset()
    • BaseController.step_controller()
• robopal.controllers.jnt_imp_controller module
  • JointImpedanceController
    • JointImpedanceController.compute_jnt_torque()
    • JointImpedanceController.reset()
    • JointImpedanceController.set_jnt_params()
    • JointImpedanceController.step_controller()
    • JointImpedanceController.step_interpolator()
• robopal.controllers.jnt_torque_controller module
  • JointTorqueController
    • JointTorqueController.reset()
    • JointTorqueController.step_controller()
    • JointTorqueController.step_interpolator()
• robopal.controllers.jnt_vel_controller module
  • JointVelocityController
    • JointVelocityController.compute_jnt_torque()
    • JointVelocityController.set_jnt_params()
    • JointVelocityController.step_controller()
• robopal.controllers.task_ik_controller module
  • CartesianIKController
    • CartesianIKController.compute_pd_increment()
    • CartesianIKController.ik()
    • CartesianIKController.step_controller()
• robopal.controllers.task_imp_controller module
  • CartesianImpedanceController
    • CartesianImpedanceController.set_cart_params()
    • CartesianImpedanceController.step_controller()
  • orientation_error()

Module contents