Rock Control
Popular repositories
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control-orogen-trajectory_generation
control-orogen-trajectory_generation PublicThis orogen component uses the reflexxes library to generate motion commands based on the current state of the system, the target state and motion constraints.
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control-orogen-auv_control
control-orogen-auv_control PublicComponent-based structure for 6DOF AUV control
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control-trajectory_follower
control-trajectory_follower PublicAn implementation of a trajectory following controller.
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control-uwv_dynamic_model
control-uwv_dynamic_model PublicImplementation of a dynamics model for underwater vehicles
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control-kdl_parser
control-kdl_parser PublicLibrary for parsing URDF files into KDL kinematic tree. Ported from ROS.
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control-hysteresis_model
control-hysteresis_model PublicImplementation of a Bouc-When hysteresis model with calibration methods. It is used to calibrate a deflection-to-torque in an actuator that has an elastic coupling
Repositories
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- control-motor_controller Public
Set of simple controllers for actuators. It includes a PID controller implementation, and a PIV controller implementation. PIV controllers allow to control motors in speed (velocity) while correcting for position drifts. It is useful to keep position synchronization between wheels while allowing local divergence in speed.
- control-orogen-trajectory_generation Public
This orogen component uses the reflexxes library to generate motion commands based on the current state of the system, the target state and motion constraints.