iCub::ctrl::minJerkVelCtrl Class Reference

Abstract class for minimum-jerk controllers with velocity commands. More...

#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.
virtual void	reset (const yarp::sig::Vector &u0)=0
	Resets the controller to a given value.
virtual	~minJerkVelCtrl ()
	Destructor.

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

_T	the current execution time.
e	the error between the desired position and the feedback.

Returns

the velocity command.

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

computeCoeffs()

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

protectedpure virtual

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

reset()

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

pure virtual

Resets the controller to a given value.

Parameters

u0	the initial output of the controller.

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

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

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