iCub::ctrl::minJerkBaseGen Class Reference

Base class for minimum jerk generators. More...

#include <minJerkCtrl.h>

Inheritance diagram for iCub::ctrl::minJerkBaseGen:

Public Member Functions
	minJerkBaseGen (const unsigned int _dim, const double _Ts, const double _T)
	Constructor.
	minJerkBaseGen (const yarp::sig::Vector &y0, const double _Ts, const double _T)
	Constructor with initial value.
	minJerkBaseGen (const minJerkBaseGen &z)
	Copy constructor.
minJerkBaseGen &	operator= (const minJerkBaseGen &z)
	Assignment operator.
virtual	~minJerkBaseGen ()
	Destructor.
virtual void	init (const yarp::sig::Vector &y0)
	Initialize the trajectory.
virtual void	computeNextValues (const yarp::sig::Vector &yd)=0
	Compute the next position, velocity and acceleration.
const yarp::sig::Vector &	getPos () const
	Get the current position.
const yarp::sig::Vector &	getVel () const
	Get the current velocity.
const yarp::sig::Vector &	getAcc () const
	Get the current acceleration.
double	getT () const
	Get the trajectory reference time in seconds (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).
double	getTs () const
	Get the sample time in seconds.
bool	setT (const double _T)
	Set the trajectory reference time (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).
bool	setTs (const double _Ts)
	Set the sample time.

Protected Member Functions
virtual void	computeCoeffs ()=0

Protected Attributes
Filter *	posFilter
Filter *	velFilter
Filter *	accFilter
yarp::sig::Vector	pos
yarp::sig::Vector	vel
yarp::sig::Vector	acc
yarp::sig::Vector	lastRef
double	Ts
double	T
unsigned int	dim

Detailed Description

Base class for minimum jerk generators.

Definition at line 227 of file minJerkCtrl.h.

Constructor & Destructor Documentation

minJerkBaseGen() [1/3]

minJerkBaseGen::minJerkBaseGen	(	const unsigned int	_dim,
		const double	_Ts,
		const double	_T
	)

Constructor.

Parameters

_dim	number of variables.
_Ts	sample time in seconds.
_T	trajectory reference time (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).

Definition at line 273 of file minJerkCtrl.cpp.

minJerkBaseGen() [2/3]

iCub::ctrl::minJerkBaseGen::minJerkBaseGen	(	const yarp::sig::Vector &	y0,
		const double	_Ts,
		const double	_T
	)

Constructor with initial value.

Parameters

_y0	initial value of the trajectory.
_Ts	sample time in seconds.
_T	trajectory reference time (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).

minJerkBaseGen() [3/3]

minJerkBaseGen::minJerkBaseGen

(

const minJerkBaseGen &

z

)

Copy constructor.

Parameters

z	the object to copy.

Note

After copy, internal filters are reset.

Definition at line 292 of file minJerkCtrl.cpp.

~minJerkBaseGen()

minJerkBaseGen::~minJerkBaseGen ( )

virtual

Destructor.

Definition at line 306 of file minJerkCtrl.cpp.

Member Function Documentation

computeCoeffs()

virtual void iCub::ctrl::minJerkBaseGen::computeCoeffs ( )

protectedpure virtual

Implemented in iCub::ctrl::minJerkTrajGen, and iCub::ctrl::minJerkRefGen.

computeNextValues()

virtual void iCub::ctrl::minJerkBaseGen::computeNextValues ( const yarp::sig::Vector &  yd )

pure virtual

Compute the next position, velocity and acceleration.

Parameters

yd	desired final value of the trajectory.

Implemented in iCub::ctrl::minJerkRefGen, and iCub::ctrl::minJerkTrajGen.

getAcc()

const yarp::sig::Vector & iCub::ctrl::minJerkBaseGen::getAcc ( ) const

inline

Get the current acceleration.

Definition at line 308 of file minJerkCtrl.h.

getPos()

const yarp::sig::Vector & iCub::ctrl::minJerkBaseGen::getPos ( ) const

inline

Get the current position.

Definition at line 298 of file minJerkCtrl.h.

getT()

double iCub::ctrl::minJerkBaseGen::getT ( ) const

inline

Get the trajectory reference time in seconds (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).

Definition at line 315 of file minJerkCtrl.h.

getTs()

double iCub::ctrl::minJerkBaseGen::getTs ( ) const

inline

Get the sample time in seconds.

Definition at line 320 of file minJerkCtrl.h.

getVel()

const yarp::sig::Vector & iCub::ctrl::minJerkBaseGen::getVel ( ) const

inline

Get the current velocity.

Definition at line 303 of file minJerkCtrl.h.

init()

void minJerkBaseGen::init ( const yarp::sig::Vector &  y0 )

virtual

Initialize the trajectory.

Parameters

y0	initial value of the trajectory.

Definition at line 335 of file minJerkCtrl.cpp.

operator=()

minJerkBaseGen & minJerkBaseGen::operator=

(

const minJerkBaseGen &

z

)

Assignment operator.

Parameters

z	the object to copy.

Note

After copy, internal filters are reset.

Definition at line 315 of file minJerkCtrl.cpp.

setT()

bool minJerkBaseGen::setT

(

const double

_T

)

Set the trajectory reference time (90% of steady-state value in t=_T, transient extinguished for t>=1.5*_T).

Parameters

_T	trajectory reference time in seconds.

Returns

true if operation succeeded, false otherwise.

Definition at line 352 of file minJerkCtrl.cpp.

setTs()

bool minJerkBaseGen::setTs

(

const double

_Ts

)

Set the sample time.

Parameters

_Ts	sample time in seconds.

Returns

true if operation succeeded, false otherwise.

Definition at line 363 of file minJerkCtrl.cpp.

Member Data Documentation

acc

yarp::sig::Vector iCub::ctrl::minJerkBaseGen::acc

protected

Definition at line 236 of file minJerkCtrl.h.

accFilter

Filter* iCub::ctrl::minJerkBaseGen::accFilter

protected

Definition at line 232 of file minJerkCtrl.h.

dim

unsigned int iCub::ctrl::minJerkBaseGen::dim

protected

Definition at line 241 of file minJerkCtrl.h.

lastRef

yarp::sig::Vector iCub::ctrl::minJerkBaseGen::lastRef

protected

Definition at line 237 of file minJerkCtrl.h.

pos

yarp::sig::Vector iCub::ctrl::minJerkBaseGen::pos

protected

Definition at line 234 of file minJerkCtrl.h.

posFilter

Filter* iCub::ctrl::minJerkBaseGen::posFilter

protected

Definition at line 230 of file minJerkCtrl.h.

T

double iCub::ctrl::minJerkBaseGen::T

protected

Definition at line 240 of file minJerkCtrl.h.

Ts

double iCub::ctrl::minJerkBaseGen::Ts

protected

Definition at line 239 of file minJerkCtrl.h.

vel

yarp::sig::Vector iCub::ctrl::minJerkBaseGen::vel

protected

Definition at line 235 of file minJerkCtrl.h.

velFilter

Filter* iCub::ctrl::minJerkBaseGen::velFilter

protected

Definition at line 231 of file minJerkCtrl.h.

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The documentation for this class was generated from the following files:

• icub-main/src/libraries/ctrlLib/include/iCub/ctrl/minJerkCtrl.h
• icub-main/src/libraries/ctrlLib/src/minJerkCtrl.cpp