Classes:
Controller:
Base controller class. Given a measurement and reference calculates output.
SupervisedController:
Wraps Controller with homing and safety. Contains state machine with following states:
UNINITIALIZED: start state.
HOMING: controller is homing
ACTIVE: controller is active and will follow given reference
INACTIVE: controller no longer follows reference (e.g. usefull to switch to if
emergence switch is pressed)
ERROR: controller is in error
ControllerFactory:
Generates SupervisedController from a given (tue_config) configuration.
GenericController:
Implementation of Controller. Contains multiple configurable filters.
SetpointController:
Implementation of Controller. Sets given input directly as output (e.g. usefull for
dynamixel control)
How to use: see 'test/test_controller.cpp'