|
| 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...
|
|
| 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...
|
|
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.