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::ChMotionFilterSecondOrder:

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Collaboration diagram for chrono::utils::ChMotionFilterSecondOrder:

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Public Member Functions
	ChMotionFilterSecondOrder (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::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:

Public Member Functions