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Public Member Functions | Protected Member Functions | List of all members
iCub::ctrl::minJerkVelCtrl Class Referenceabstract

#include <minJerkCtrl.h>

+ Inheritance diagram for iCub::ctrl::minJerkVelCtrl:

Public Member Functions

virtual yarp::sig::Vector computeCmd (const double _T, const yarp::sig::Vector &e)=0
 Computes the velocity command. More...
 
virtual void reset (const yarp::sig::Vector &u0)=0
 Resets the controller to a given value. More...
 
virtual ~minJerkVelCtrl ()
 Destructor. More...
 

Protected Member Functions

virtual void computeCoeffs ()=0
 

Detailed Description

Abstract class for minimum-jerk controllers with velocity commands.

Definition at line 46 of file minJerkCtrl.h.

Constructor & Destructor Documentation

◆ ~minJerkVelCtrl()

virtual iCub::ctrl::minJerkVelCtrl::~minJerkVelCtrl ( )
inlinevirtual

Destructor.

Definition at line 70 of file minJerkCtrl.h.

Member Function Documentation

◆ computeCmd()

virtual yarp::sig::Vector iCub::ctrl::minJerkVelCtrl::computeCmd ( const double  _T,
const yarp::sig::Vector &  e 
)
pure virtual

Computes the velocity command.

Parameters
_Tthe current execution time.
ethe error between the desired position and the feedback.
Returns
the velocity command.

Implemented in iCub::ctrl::minJerkVelCtrlForNonIdealPlant, and iCub::ctrl::minJerkVelCtrlForIdealPlant.

◆ computeCoeffs()

virtual void iCub::ctrl::minJerkVelCtrl::computeCoeffs ( )
protectedpure virtual

◆ reset()

virtual void iCub::ctrl::minJerkVelCtrl::reset ( const yarp::sig::Vector &  u0)
pure virtual

Resets the controller to a given value.

Parameters
u0the initial output of the controller.

Implemented in iCub::ctrl::minJerkVelCtrlForNonIdealPlant, and iCub::ctrl::minJerkVelCtrlForIdealPlant.


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