iCub::ctrl::minJerkRefGen Class Reference

Generator of position, velocity and acceleration references that are approximately minimum jerk. More...

#include <minJerkCtrl.h>

Inheritance diagram for iCub::ctrl::minJerkRefGen:

Public Member Functions
	minJerkRefGen (const unsigned int _dim, const double _Ts, const double _T)
	Constructor. More...
	minJerkRefGen (const yarp::sig::Vector &y0, const double _Ts, const double _T)
	Constructor with initial value. More...
	minJerkRefGen (const minJerkRefGen &z)
	Copy constructor. More...
minJerkRefGen &	operator= (const minJerkRefGen &z)
	Assignment operator. More...
void	computeNextValues (const yarp::sig::Vector &y)
	Computes the position, velocity and acceleration references. More...
virtual void	computeNextValues (const yarp::sig::Vector &y, const yarp::sig::Vector &yd)
	Computes the position, velocity and acceleration references. More...
Public Member Functions inherited from iCub::ctrl::minJerkBaseGen
	minJerkBaseGen (const unsigned int _dim, const double _Ts, const double _T)
	Constructor. More...
	minJerkBaseGen (const yarp::sig::Vector &y0, const double _Ts, const double _T)
	Constructor with initial value. More...
	minJerkBaseGen (const minJerkBaseGen &z)
	Copy constructor. More...
minJerkBaseGen &	operator= (const minJerkBaseGen &z)
	Assignment operator. More...
virtual	~minJerkBaseGen ()
	Destructor. More...
virtual void	init (const yarp::sig::Vector &y0)
	Initialize the trajectory. More...
const yarp::sig::Vector &	getPos () const
	Get the current position. More...
const yarp::sig::Vector &	getVel () const
	Get the current velocity. More...
const yarp::sig::Vector &	getAcc () const
	Get the current acceleration. More...
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). More...
double	getTs () const
	Get the sample time in seconds. More...
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). More...
bool	setTs (const double _Ts)
	Set the sample time. More...

Protected Member Functions
void	computeCoeffs ()

Additional Inherited Members
Protected Attributes inherited from iCub::ctrl::minJerkBaseGen
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

Generator of position, velocity and acceleration references that are approximately minimum jerk.

The references are computed taking into account both the desired final value of the trajectory and the current feedback position.

Definition at line 406 of file minJerkCtrl.h.

Constructor & Destructor Documentation

minJerkRefGen() [1/3]

minJerkRefGen::minJerkRefGen	(	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 463 of file minJerkCtrl.cpp.

minJerkRefGen() [2/3]

iCub::ctrl::minJerkRefGen::minJerkRefGen	(	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).

minJerkRefGen() [3/3]

minJerkRefGen::minJerkRefGen

(

const minJerkRefGen &

z

)

Copy constructor.

Parameters

z	the object to copy.

Note

After copy, internal filters are reset.

Definition at line 479 of file minJerkCtrl.cpp.

Member Function Documentation

computeCoeffs()

void minJerkRefGen::computeCoeffs ( )

protectedvirtual

Implements iCub::ctrl::minJerkBaseGen.

Definition at line 496 of file minJerkCtrl.cpp.

computeNextValues() [1/2]

void minJerkRefGen::computeNextValues ( const yarp::sig::Vector &  y )

virtual

Computes the position, velocity and acceleration references.

Parameters

y	current position.

Implements iCub::ctrl::minJerkBaseGen.

Definition at line 542 of file minJerkCtrl.cpp.

computeNextValues() [2/2]

void minJerkRefGen::computeNextValues ( const yarp::sig::Vector &  y, const yarp::sig::Vector &  yd  )

virtual

Computes the position, velocity and acceleration references.

Parameters

y	current position.
yd	desired final value of the trajectory.

Definition at line 561 of file minJerkCtrl.cpp.

operator=()

minJerkRefGen & minJerkRefGen::operator=

(

const minJerkRefGen &

z

)

Assignment operator.

Parameters

z	the object to copy.

Note

After copy, internal filters are reset.

Definition at line 487 of file minJerkCtrl.cpp.

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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