chrono::ChFunction_DoubleS Class Reference
Description
Double-S ramp function composed by seven tracts with constant jerk (aka.
'seven segments', 'constant jerk', 'trapezoidal acceleration').
#include <ChFunction_DoubleS.h>
Inheritance diagram for chrono::ChFunction_DoubleS:
Collaboration diagram for chrono::ChFunction_DoubleS:
Public Member Functions | |
| ChFunction_DoubleS () | |
| Default constructor. | |
| ChFunction_DoubleS (double q0, double q1, double v0, double v1, double T, double Ta, double Tj) | |
| Simplified case Double-S, with imposed boundary conditions and times. More... | |
| ChFunction_DoubleS (double q0, double q1, double vmax, double amax, double jmax) | |
| Simplified case Double-S: under. More... | |
| ChFunction_DoubleS (bool &feasible, double q0, double q1, double v0, double v1, double vmax, double amax, double jmax) | |
| General case Double-S: under. More... | |
| ChFunction_DoubleS (const ChFunction_DoubleS &other) | |
| virtual ChFunction_DoubleS * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual FunctionType | Get_Type () const override |
| Get type of ChFunction. | |
| void | Setup_Data (double q0, double q1, double v0, double v1, double T, double Ta, double Tj) |
| Setup internal data of Double-S, imposed times case. | |
| void | Setup_Data (double q0, double q1, double vmax, double amax, double jmax) |
| Setup internal data of Double-S, simplified case for minimization of motion time with v0 = v1 = 0. | |
| void | Setup_Data (bool &feasible, double q0, double q1, double v0, double v1, double vmax, double amax, double jmax) |
| Setup internal data of Double-S, general case for minimization of motion time. | |
| virtual double | Get_y (double x) const override |
| Position: return the y value of the function, at position x. | |
| virtual double | Get_y_dx (double x) const override |
| Velocity: return the dy/dx derivative of the function, at position x. | |
| virtual double | Get_y_dxdx (double x) const override |
| Acceleration: return the ddy/dxdx double derivative of the function, at position x. | |
| virtual double | Get_y_dxdxdx (double x) const override |
| Jerk: return the dddy/dxdxdx triple derivative of the function, at position x. | |
| double | Get_h () const |
| Get total displacement. | |
| double | Get_end () const |
| Get total motion time. | |
| void | Get_Bounds (double &q0, double &q1, double &v0, double &v1) |
| Get boundary conditions. | |
| void | Get_Constraints (double &vmax, double &amax, double &jmax) |
| Get kinematic constraints. | |
| void | Get_Times (double &T, double &Ta, double &Tv, double &Td, double &Tj1, double &Tj2) |
| Get internal motion times. | |
| void | Get_Limits (double &vlim, double &alim_a, double &alim_d) |
| Get maximum velocity/acceleration/deceleration effectively reached during motion law. | |
| virtual void | ArchiveOut (ChArchiveOut &marchive) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &marchive) override |
| Method to allow de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual double | Get_weight (double x) const |
| Return the weight of the function (useful for applications where you need to mix different weighted ChFunctions) | |
| virtual void | Estimate_x_range (double &xmin, double &xmax) const |
| Return an estimate of the range of the function argument. More... | |
| virtual void | Estimate_y_range (double xmin, double xmax, double &ymin, double &ymax, int derivate) const |
| Return an estimate of the range of the function value. More... | |
| virtual double | Get_y_dN (double x, int derivate) const |
| Return the function derivative of specified order at the given point. More... | |
| virtual void | Update (double x) |
| Update could be implemented by children classes, ex. to launch callbacks. | |
| virtual double | Compute_max (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the maximum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_min (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the minimum of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_mean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the mean value of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Compute_sqrmean (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the square mean val. of y(x) in a range xmin-xmax, using sampling. | |
| virtual double | Compute_int (double xmin, double xmax, double sampling_step, int derivate) const |
| Compute the integral of y(x) in a range xmin-xmax, using a sampling method. | |
| virtual double | Get_Ca_pos () const |
| Computes the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Ca_neg () const |
| Compute the positive acceleration coefficient (inherited classes should customize this). | |
| virtual double | Get_Cv () const |
| Compute the speed coefficient (inherited classes must customize this). | |
| virtual int | HandleNumber () const |
| Return the number of handles of the function. | |
| virtual bool | HandleAccess (int handle_id, double mx, double my, bool set_mode) |
| Get the x and y position of handle, given identifier. More... | |
| virtual int | FilePostscriptPlot (ChFile_ps *m_file, int plotY, int plotDY, int plotDDY) |
| Plot function in graph space of the ChFile_ps postscript file where zoom factor, centering, color, thickness etc. More... | |
| virtual int | FileAsciiPairsSave (ChStreamOutAscii &m_file, double xmin=0, double xmax=1, int msamples=200) |
| Save function as X-Y pairs separated by space, with CR at each pair, into an ASCII file. More... | |
| virtual void | EvaluateIntervaldN (ChMatrixDynamic<> &data, double xmin, double xmax, double step, int der=0) |
| Sample function on entire interval, up to Nth derivative (der = 0: y, 1: y_dx, 2: y_dxdx, 3: y_dxdxdx). More... | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | FunctionType { FUNCT_CUSTOM, FUNCT_CONST, FUNCT_CONSTACC, FUNCT_DERIVE, FUNCT_FILLET3, FUNCT_INTEGRATE, FUNCT_MATLAB, FUNCT_MIRROR, FUNCT_MOCAP, FUNCT_NOISE, FUNCT_OPERATION, FUNCT_OSCILLOSCOPE, FUNCT_POLY, FUNCT_POLY345, FUNCT_RAMP, FUNCT_RECORDER, FUNCT_REPEAT, FUNCT_SEQUENCE, FUNCT_SIGMA, FUNCT_SINE, FUNCT_LAMBDA, FUNCT_CYCLOIDAL, FUNCT_BSPLINE, FUNCT_DOUBLES } |
| Enumeration of function types. | |
Constructor & Destructor Documentation
◆ ChFunction_DoubleS() [1/3]
| chrono::ChFunction_DoubleS::ChFunction_DoubleS | ( | double | q0, |
| double | q1, | ||
| double | v0, | ||
| double | v1, | ||
| double | T, | ||
| double | Ta, | ||
| double | Tj | ||
| ) |
Simplified case Double-S, with imposed boundary conditions and times.
Eg. for q1 > q0, it produces a motion profile characterized by
- time: [0, Tj, Ta-Tj, Ta, Ta+Tv, Ta+Tv+Tj, T-Tj, T]
- jerk: [+jmax, 0, -jmax, 0, -jmax, 0, +jmax]
- acceleration: [+lin, const, -lin, zero, -lin, const, +lin]
NB: Ta = (0..1/2) * T; Tj = (0..1/2) * Ta
- Parameters
-
q0 start position q1 end position v0 start velocity v1 end velocity T total motion time Ta acceleration time (corresponds to first accel trapezoid) -> NB: Ta = (0..1/2) * T Tj jerk time (corresponds to first jerk square wave) -> NB: Tj = (0..1/2) * Ta
◆ ChFunction_DoubleS() [2/3]
| chrono::ChFunction_DoubleS::ChFunction_DoubleS | ( | double | q0, |
| double | q1, | ||
| double | vmax, | ||
| double | amax, | ||
| double | jmax | ||
| ) |
Simplified case Double-S: under.
- imposed boundary positions
- (assumed) zero boundary velocities
- (assumed) zero boundary accelerations
- symmetric kinematic constraints on max |velocity|, |acceleration|, |jerk| minimizes total motion time.
- imposed boundary positions
- (assumed) zero boundary velocities
- (assumed) zero boundary accelerations
- symmetric kinematic constraints on max |velocity|, |acceleration|, |jerk| minimize total motion time.
- Parameters
-
q0 start position q1 end position vmax kinematic constraint: (abs) max allowed velocity amax kinematic constraint: (abs) max allowed acceleration jmax kinematic constraint: (abs) max allowed jerk
◆ ChFunction_DoubleS() [3/3]
| chrono::ChFunction_DoubleS::ChFunction_DoubleS | ( | bool & | feasible, |
| double | q0, | ||
| double | q1, | ||
| double | v0, | ||
| double | v1, | ||
| double | vmax, | ||
| double | amax, | ||
| double | jmax | ||
| ) |
General case Double-S: under.
- imposed boundary positions
- imposed boundary velocities
- (assumed) zero boundary accelerations
- symmetric kinematic constraints on max |velocity|, |acceleration|, |jerk| attempts to minimize total motion time.
NB: if desired motion law is not feasible, everything is set to zero (try to relax constraints).
- imposed boundary positions
- imposed boundary velocities
- (assumed) zero boundary accelerations
- symmetric kinematic constraints on max |velocity|, |acceleration|, |jerk| attempt to minimize total motion time.
NB: if desired motion law is not feasible, everything is set to zero (try to relax constraints).
- Parameters
-
feasible output: will be set to true if desired motlaw is feasible, false otherwise q0 start position q1 end position v0 start velocity v1 end velocity vmax kinematic constraint: (abs) max allowed velocity amax kinematic constraint: (abs) max allowed acceleration jmax kinematic constraint: (abs) max allowed jerk
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunction_DoubleS.h
- /builds/uwsbel/chrono/src/chrono/motion_functions/ChFunction_DoubleS.cpp
