iCub::ctrl::minJerkVelCtrlForIdealPlant Class Reference

Implements a minimum-jerk controller with velocity commands in the assumption that the plant can be modelled as a pure integrator 1/s. More...

#include <minJerkCtrl.h>

Inheritance diagram for iCub::ctrl::minJerkVelCtrlForIdealPlant:

Public Member Functions
	minJerkVelCtrlForIdealPlant (const double _Ts, const int _dim)
	Constructor. More...
virtual yarp::sig::Vector	computeCmd (const double _T, const yarp::sig::Vector &e)
	Computes the velocity command. More...
virtual void	reset (const yarp::sig::Vector &u0)
	Resets the controller to a given value. More...
virtual	~minJerkVelCtrlForIdealPlant ()
	Destructor. More...
Public Member Functions inherited from iCub::ctrl::minJerkVelCtrl
virtual	~minJerkVelCtrl ()
	Destructor. More...

Protected Member Functions
virtual void	computeCoeffs ()

Protected Attributes
ctrl::Filter *	F
double	Ts
double	T
int	dim

Detailed Description

Implements a minimum-jerk controller with velocity commands in the assumption that the plant can be modelled as a pure integrator 1/s.

Definition at line 81 of file minJerkCtrl.h.

Constructor & Destructor Documentation

minJerkVelCtrlForIdealPlant()

minJerkVelCtrlForIdealPlant::minJerkVelCtrlForIdealPlant	(	const double	_Ts,
		const int	_dim
	)

Constructor.

Parameters

_Ts	is the controller sample time in seconds.
_dim	is the controller's dimension

Definition at line 26 of file minJerkCtrl.cpp.

~minJerkVelCtrlForIdealPlant()

minJerkVelCtrlForIdealPlant::~minJerkVelCtrlForIdealPlant ( )

virtual

Destructor.

Definition at line 92 of file minJerkCtrl.cpp.

Member Function Documentation

computeCmd()

Vector minJerkVelCtrlForIdealPlant::computeCmd ( const double  _T, const yarp::sig::Vector &  e  )

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.

Implements iCub::ctrl::minJerkVelCtrl.

Definition at line 72 of file minJerkCtrl.cpp.

computeCoeffs()

void minJerkVelCtrlForIdealPlant::computeCoeffs ( )

protectedvirtual

Implements iCub::ctrl::minJerkVelCtrl.

Definition at line 34 of file minJerkCtrl.cpp.

reset()

void minJerkVelCtrlForIdealPlant::reset ( const yarp::sig::Vector &  u0 )

virtual

Resets the controller to a given value.

Parameters

u0	the initial output of the controller.

Implements iCub::ctrl::minJerkVelCtrl.

Definition at line 85 of file minJerkCtrl.cpp.

Member Data Documentation

dim

int iCub::ctrl::minJerkVelCtrlForIdealPlant::dim

protected

Definition at line 92 of file minJerkCtrl.h.

F

ctrl::Filter* iCub::ctrl::minJerkVelCtrlForIdealPlant::F

protected

Definition at line 88 of file minJerkCtrl.h.

T

double iCub::ctrl::minJerkVelCtrlForIdealPlant::T

protected

Definition at line 91 of file minJerkCtrl.h.

Ts

double iCub::ctrl::minJerkVelCtrlForIdealPlant::Ts

protected

Definition at line 90 of file minJerkCtrl.h.

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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