iCub-main
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Generator of position, velocity and acceleration references that are approximately minimum jerk. More...
#include <minJerkCtrl.h>
Public Member Functions | |
minJerkRefGen (const unsigned int _dim, const double _Ts, const double _T) | |
Constructor. | |
minJerkRefGen (const yarp::sig::Vector &y0, const double _Ts, const double _T) | |
Constructor with initial value. | |
minJerkRefGen (const minJerkRefGen &z) | |
Copy constructor. | |
minJerkRefGen & | operator= (const minJerkRefGen &z) |
Assignment operator. | |
void | computeNextValues (const yarp::sig::Vector &y) |
Computes the position, velocity and acceleration references. | |
virtual void | computeNextValues (const yarp::sig::Vector &y, const yarp::sig::Vector &yd) |
Computes the position, velocity and acceleration references. | |
Public Member Functions inherited from iCub::ctrl::minJerkBaseGen | |
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. | |
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 | |
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 |
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.
minJerkRefGen::minJerkRefGen | ( | const unsigned int | _dim, |
const double | _Ts, | ||
const double | _T | ||
) |
Constructor.
_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.
iCub::ctrl::minJerkRefGen::minJerkRefGen | ( | const yarp::sig::Vector & | y0, |
const double | _Ts, | ||
const double | _T | ||
) |
Constructor with initial value.
_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::minJerkRefGen | ( | const minJerkRefGen & | z | ) |
Copy constructor.
z | the object to copy. |
Definition at line 479 of file minJerkCtrl.cpp.
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protectedvirtual |
Implements iCub::ctrl::minJerkBaseGen.
Definition at line 496 of file minJerkCtrl.cpp.
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virtual |
Computes the position, velocity and acceleration references.
y | current position. |
Implements iCub::ctrl::minJerkBaseGen.
Definition at line 542 of file minJerkCtrl.cpp.
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virtual |
Computes the position, velocity and acceleration references.
y | current position. |
yd | desired final value of the trajectory. |
Definition at line 561 of file minJerkCtrl.cpp.
minJerkRefGen & minJerkRefGen::operator= | ( | const minJerkRefGen & | z | ) |
Assignment operator.
z | the object to copy. |
Definition at line 487 of file minJerkCtrl.cpp.