chrono::utils::ChMotionlawFilter Class Referenceabstract


Base class for smoothing basic motion laws with discrete time-domain nonlinear filters.

Useful to track on the fly externally-provided signals (e.g. by joystick, teach pendant) with a continuous motion profile.

#include <ChFilters.h>

Inheritance diagram for chrono::utils::ChMotionlawFilter:

Public Member Functions

virtual void Reset ()=0
 Reset state variables.
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.

Protected Attributes

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 file:
  • /builds/uwsbel/chrono/src/chrono/utils/ChFilters.h