iCub-main
Classes | Namespaces
minJerkCtrl.h File Reference
#include <string>
#include <deque>
#include <yarp/os/Property.h>
#include <yarp/sig/Vector.h>
#include <yarp/sig/Matrix.h>
#include <iCub/ctrl/filters.h>
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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...
 

Namespaces

 iCub
 This file contains the definition of unique IDs for the body parts and the skin parts of the robot.
 
 iCub::ctrl