iCub-main
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>
Include dependency graph for minJerkCtrl.h:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

## 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