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Classes
Minimum-Jerk Controller

Classes for Minimum-Jerk Control. More...

+ Collaboration diagram for Minimum-Jerk Controller:

Classes

class  iCub::ctrl::minJerkVelCtrl
 Abstract class for minimum-jerk controllers with velocity commands. More...
 
class  iCub::ctrl::minJerkVelCtrlForIdealPlant
 Implements a minimum-jerk controller with velocity commands in the assumption that the plant can be modelled as a pure integrator 1/s. More...
 
class  iCub::ctrl::minJerkVelCtrlForNonIdealPlant
 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...
 
class  iCub::ctrl::minJerkBaseGen
 Base class for minimum jerk generators. More...
 
class  iCub::ctrl::minJerkTrajGen
 Generator of approximately minimum jerk trajectories. More...
 
class  iCub::ctrl::minJerkRefGen
 Generator of position, velocity and acceleration references that are approximately minimum jerk. More...
 

Detailed Description

Classes for Minimum-Jerk Control.

Author
Ugo Pattacini