chrono::utils::ChMotionFilterSecondOrder Class Reference


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:
Collaboration diagram for chrono::utils::ChMotionFilterSecondOrder:

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