Commit 9cd4506a authored by Nicolas Van der Noot's avatar Nicolas Van der Noot
Browse files

comments examplectrl

parent 84020519

userFiles/interface/ctrl/Example/ExampleCtrl.cc

+4 −4
Original line number Diff line number Diff line
@@ -59,7 +59,7 @@ ExampleCtrl::ExampleCtrl(): Ctrl(EXAMPLE_CTRL) 


	/*

	 * The following function must be coherent with the

	 * 'userFiles/simu/actuators/LowLevelGains.cc' file

	 * 'userFiles/interface/gains/LowLevelGains.hh' file

	 * (modify its 'MotorConfig' function).

	 * In this example, all the joints must be in 'POSITION_TRACKING',

	 * except the arm joints which can be in 'POSITION_TRACKING' or in
@@ -184,7 +184,7 @@ void ExampleCtrl::FinishCtrl() 
 * 

 * \param[in] inputsCtrl controller inputs structure

 *

 * For more information about the controller inputs, src/project/interface_controller/controller_io.hh.

 * For more information about the controller inputs, userFiles/interface/io/controller_io.hh.

 * Fill your controller inputs, reading the ones from 'inputsCtrl'.

 */

void ExampleCtrl::SetInputs(Inputs_ctrl *inputsCtrl)
@@ -226,12 +226,12 @@ void ExampleCtrl::SetInputs(Inputs_ctrl *inputsCtrl) 
 * 

 * \param[out] outputsCtrl controller outputs structure

 *

 * For more information about the controller outputs, src/project/interface_controller/controller_io.hh.

 * For more information about the controller outputs, userFiles/interface/io/controller_io.hh.

 * Fill 'outputsCtrl' with your controller outputs.

 */

void ExampleCtrl::SetOutputs(Outputs_ctrl *outputsCtrl)

{

	// tracking (position - velocity - torque)

	// tracking (position - torque)

	for (int i=0; i<nb_mot; i++)

	{

		outputsCtrl->q_ref[i]   = q_ref[i];