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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
iCub::ctrl::minJerkVelCtrlForIdealPlant Class Reference

#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::FilterF
 
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
_Tsis the controller sample time in seconds.
_dimis 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
_Tthe current execution time.
ethe 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
u0the 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.


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