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.
