|
WB-Toolbox
6.0.1
A Simulink Toolbox for Whole Body Control
|
#include "WBToolbox/Block/MinimumJerkTrajectoryGenerator.h"#include <BlockFactory/Core/BlockInformation.h>#include <BlockFactory/Core/Log.h>#include <BlockFactory/Core/Parameter.h>#include <BlockFactory/Core/Parameters.h>#include <BlockFactory/Core/Signal.h>#include <iCub/ctrl/minJerkCtrl.h>#include <yarp/sig/Vector.h>#include <cmath>#include <ostream>#include <tuple>Classes | |
| class | wbt::block::MinimumJerkTrajectoryGenerator::impl |
Enumerations | |
| enum | ParamIndex { Bias = Block::NumberOfParameters - 1 , WBStruct , ConfBlockName , Bias = Block::NumberOfParameters - 1 , FilterStruct , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , LimitType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , MeasType , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame , Bias = Block::NumberOfParameters - 1 , SampleTime , SettlingTime , FirstDerivative , SecondDerivative , ReadInitialValue , ExtSettlingTime , ResetOnChange , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , AdaptiveRho , Polish , MaxIterations , Bias = Block::NumberOfParameters - 1 , UseLbA , UseUbA , UseLb , UseUb , ComputeObjVal , StopWhenFails , Bias = Block::NumberOfParameters - 1 , Period , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , RefFrame , Frame , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , Frame1 , Frame2 , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , SetP , SetI , SetD , PidCtrlType , SetKTau , KTau , SetBemf , Bemf , Bias = wbt::base::WBBlock::NumberOfParameters - 1 , CtrlType , TrajRef , Bias = Block::NumberOfParameters - 1 , Period , GzClkPort , RpcPort , Bias = Block::NumberOfParameters - 1 , PortName , PortSize , WaitData , ReadTimestamp , Autoconnect , ErrMissingPort , Timeout , Bias = Block::NumberOfParameters - 1 , PortName , Autoconnect , ErrMissingPort } |
| enum | InputIndex { BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , InputSignal = 0 , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , BaseVelocity , JointVelocity , BaseAcceleration , JointAcceleration , BasePose = 0 , JointConfiguration , BasePose = 0 , JointConfiguration , InputSignal = 0 , Hessian = 0 , Gradient , Hessian = 0 , Gradient , JointConfiguration = 0 , JointConfiguration = 0 , References = 0 , Signal = 0 } |
| enum | OutputIndex { CentroidalMomentum = 0 , CentroidalTotalMomentumMatrix = 0 , FilteredSignal = 0 , DotJNu = 0 , Transform = 0 , MinLimit = 0 , MaxLimit , Measurement = 0 , Torques = 0 , Jacobian = 0 , MassMatrix = 0 , FilteredSignal = 0 , PrimalSolution = 0 , Status , PrimalSolution = 0 , Status , RelativeJacobian = 0 , Transform = 0 , Clock = 0 , Signal = 0 } |
Variables | |
| static size_t | InputIndex_InitialValue = InputIndex::InputSignal |
| static size_t | InputIndex_ExtSettlingTime = InputIndex::InputSignal |
| static size_t | OutputIndex_FirstDer = OutputIndex::FilteredSignal |
| static size_t | OutputIndex_SecondDer = OutputIndex::FilteredSignal |
| enum InputIndex |
| enum OutputIndex |
| enum ParamIndex |
|
static |
|
static |
|
static |
|
static |
1.9.1