chrono::utils::ChMotionFilterThirdOrder Class Reference
Description
Third-order nonlinear filter for smoothing basic motion laws (e.g.
step, linear ramp) given maximum (symmetrical) velocity, acceleration and jerk constraints. Output is analogous to a Double-S (aka. Constant Jerk) motion profile. NB: this filter is affected by some chattering on jerk control variable, thus it works best if small time step is provided.
#include <ChFilters.h>
Inheritance diagram for chrono::utils::ChMotionFilterThirdOrder:
Collaboration diagram for chrono::utils::ChMotionFilterThirdOrder:
Public Member Functions | |
| ChMotionFilterThirdOrder (double vmax, double amax, double jmax, double timestep) | |
| void | Config (double vmax, double amax, double jmax, double timestep) |
| Configure filter parameters. | |
| virtual void | Reset () override |
| Reset state variables. | |
| double | Filter (double raw_setpos, double raw_setvel, double raw_setacc) |
| Given instantaneous raw position, velocity and acceleration setpoints, compute filtered pos/vel/acc/jerk and return filtered position. | |
| double | GetFilteredJerk () const |
| Get last filtered jerk computed. | |
 Public Member Functions inherited from chrono::utils::ChMotionFilter | |
| 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::ChMotionFilter | |
| 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
