iCub::ctrl::minJerkVelCtrlForNonIdealPlant Class Reference

Implements a minimum-jerk controller with velocity commands assuming a non ideal plant represented with a pure integrator followed by a system with one zero and two poles (real or underdamped), such that the overall transfer function is (1/s)*(Kp*(1+Tz*s)/(1+2*Zeta*Tw*s+(Tw*s)^2)). More...

#include <minJerkCtrl.h>

Inheritance diagram for iCub::ctrl::minJerkVelCtrlForNonIdealPlant:

Public Member Functions
	minJerkVelCtrlForNonIdealPlant (const double _Ts, const int _dim)
	Constructor.
virtual yarp::sig::Vector	computeCmd (const double _T, const yarp::sig::Vector &e)
	Computes the velocity command.
virtual void	reset (const yarp::sig::Vector &u0)
	Resets the controller to a given value.
virtual void	setPlantParameters (const yarp::os::Property &parameters, const std::string &entryTag="dimension", const yarp::os::Bottle &ordering=yarp::os::Bottle())
	Allows user to assign values to plant parameters.
virtual void	getPlantParameters (yarp::os::Property &parameters, const std::string &entryTag="dimension")
	Allows user to retrieve plant parameters.
virtual	~minJerkVelCtrlForNonIdealPlant ()
	Destructor.
Public Member Functions inherited from iCub::ctrl::minJerkVelCtrl
virtual	~minJerkVelCtrl ()
	Destructor.

Protected Member Functions
virtual void	computeCoeffs ()

Protected Attributes
yarp::sig::Vector	Kp
yarp::sig::Vector	Tz
yarp::sig::Vector	Tw
yarp::sig::Vector	Zeta
std::deque< ctrl::Filter * >	F
double	Ts
double	T
int	dim

Detailed Description

Implements a minimum-jerk controller with velocity commands assuming a non ideal plant represented with a pure integrator followed by a system with one zero and two poles (real or underdamped), such that the overall transfer function is (1/s)*(Kp*(1+Tz*s)/(1+2*Zeta*Tw*s+(Tw*s)^2)).

Definition at line 135 of file minJerkCtrl.h.

Constructor & Destructor Documentation

minJerkVelCtrlForNonIdealPlant()

minJerkVelCtrlForNonIdealPlant::minJerkVelCtrlForNonIdealPlant	(	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 99 of file minJerkCtrl.cpp.

~minJerkVelCtrlForNonIdealPlant()

minJerkVelCtrlForNonIdealPlant::~minJerkVelCtrlForNonIdealPlant ( )

virtual

Destructor.

Definition at line 263 of file minJerkCtrl.cpp.

Member Function Documentation

computeCmd()

Vector minJerkVelCtrlForNonIdealPlant::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 169 of file minJerkCtrl.cpp.

computeCoeffs()

void minJerkVelCtrlForNonIdealPlant::computeCoeffs ( )

protectedvirtual

Implements iCub::ctrl::minJerkVelCtrl.

Definition at line 115 of file minJerkCtrl.cpp.

getPlantParameters()

void minJerkVelCtrlForNonIdealPlant::getPlantParameters ( yarp::os::Property &  parameters, const std::string &  entryTag = "dimension"  )

virtual

Allows user to retrieve plant parameters.

Parameters

parameters

contains the set of plant parameters for each dimension in form of a Property object.

Available parameters are:

dimension_# < list>: example (dimension_2 ((Kp 1.0) (Tw 0.1) ...)), specifies the Kp, Tz, Tw and Zeta parameters for a given dimension of the plant ("dimension_2" in the example). Dimensions are 0-based numbers.

Parameters

entryTag

specifies an entry tag different from "dimension".

Definition at line 241 of file minJerkCtrl.cpp.

reset()

void minJerkVelCtrlForNonIdealPlant::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 190 of file minJerkCtrl.cpp.

setPlantParameters()

void minJerkVelCtrlForNonIdealPlant::setPlantParameters ( const yarp::os::Property &  parameters, const std::string &  entryTag = "dimension", const yarp::os::Bottle &  ordering = yarp::os::Bottle()  )

virtual

Allows user to assign values to plant parameters.

Parameters

parameters

contains the set of plant parameters for each dimension in form of a Property object.

Available parameters are:

dimension_# < list>: example (dimension_2 ((Kp 1.0) (Tw 0.1) ...)), specifies the Kp, Tz, Tw and Zeta parameters for a given dimension of the plant ("dimension_2" in the example). Dimensions are 0-based numbers.

Parameters

entryTag	specifies an entry tag different from "dimension".
ordering	if a not empty Bottle is provided, the ordering is not 0,1,2...dim-1 but the one specified by the bottle content.

Definition at line 202 of file minJerkCtrl.cpp.

Member Data Documentation

dim

int iCub::ctrl::minJerkVelCtrlForNonIdealPlant::dim

protected

Definition at line 150 of file minJerkCtrl.h.

F

std::deque<ctrl::Filter*> iCub::ctrl::minJerkVelCtrlForNonIdealPlant::F

protected

Definition at line 146 of file minJerkCtrl.h.

Kp

yarp::sig::Vector iCub::ctrl::minJerkVelCtrlForNonIdealPlant::Kp

protected

Definition at line 142 of file minJerkCtrl.h.

T

double iCub::ctrl::minJerkVelCtrlForNonIdealPlant::T

protected

Definition at line 149 of file minJerkCtrl.h.

Ts

double iCub::ctrl::minJerkVelCtrlForNonIdealPlant::Ts

protected

Definition at line 148 of file minJerkCtrl.h.

Tw

yarp::sig::Vector iCub::ctrl::minJerkVelCtrlForNonIdealPlant::Tw

protected

Definition at line 144 of file minJerkCtrl.h.

Tz

yarp::sig::Vector iCub::ctrl::minJerkVelCtrlForNonIdealPlant::Tz

protected

Definition at line 143 of file minJerkCtrl.h.

Zeta

yarp::sig::Vector iCub::ctrl::minJerkVelCtrlForNonIdealPlant::Zeta

protected

Definition at line 145 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