chrono::utils::ChMotionlawFilter_SecondOrder Class Reference
Description
Second-order nonlinear filter for smoothing basic motion laws (e.g.
step, linear ramp) given maximum (symmetrical) velocity and acceleration constraints. Output is analogous to a Constant Acceleration motion profile.
#include <ChFilters.h>
Inheritance diagram for chrono::utils::ChMotionlawFilter_SecondOrder:
Collaboration diagram for chrono::utils::ChMotionlawFilter_SecondOrder:
Public Member Functions | |
ChMotionlawFilter_SecondOrder (double vmax, double amax, double timestep) | |
void | Config (double vmax, double amax, double timestep) |
Configure filter parameters. | |
virtual void | Reset () override |
Reset state variables. | |
double | Filter (double raw_setpos, double raw_setvel) |
Given instantaneous raw position and velocity setpoints, compute filtered pos/vel/acc and return filtered position. | |
Public Member Functions inherited from chrono::utils::ChMotionlawFilter | |
virtual double | GetFilteredPos () const |
Get last filtered position computed. | |
virtual double | GetFilteredVel () const |
Get last filtered velocity computed. | |
virtual double | GetFilteredAcc () const |
Get last filtered acceleration computed. | |
Additional Inherited Members | |
Protected Attributes inherited from chrono::utils::ChMotionlawFilter | |
double | m_filtpos = 0 |
filtered position setpoint | |
double | m_filtvel = 0 |
filtered velocity setpoint | |
double | m_filtacc = 0 |
filtered acceleration | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/utils/ChFilters.h
- /builds/uwsbel/chrono/src/chrono/utils/ChFilters.cpp