BasicControllers.cpp File Reference

#include "BasicControllers.h"
#include <algorithm>
#include <ArmarXCore/core/logging/Logging.h>
#include <ArmarXCore/core/util/algorithm.h>
#include "util/CtrlUtil.h"

Include dependency graph for BasicControllers.cpp:

Go to the source code of this file.

Namespaces
	armarx
	This file offers overloads of toIce() and fromIce() functions for STL container types.

Functions
float	positionThroughVelocityControlWithAccelerationAndPositionBounds (float dt, float maxDt, float currentV, float maxV, float acceleration, float deceleration, float currentPosition, float targetPosition, float p, float positionLimitLo, float positionLimitHi)
float	positionThroughVelocityControlWithAccelerationBounds (float dt, float maxDt, float currentV, float maxV, float acceleration, float deceleration, float currentPosition, float targetPosition, float p)
float	positionThroughVelocityControlWithAccelerationBoundsAndPeriodicPosition (float dt, float maxDt, float currentV, float maxV, float acceleration, float deceleration, float currentPosition, float targetPosition, float pControlPosErrorLimit, float p, float &direction, float positionPeriodLo, float positionPeriodHi)
std::array< deltas, 3 >	trapeze (float v0, float acc, float vMax, float dec, float vt, float dx)
float	velocityControlWithAccelerationAndPositionBounds (float dt, float maxDt, float currentV, float targetV, float maxV, float acceleration, float deceleration, float directSetVLimit, float currentPosition, float positionLimitLoSoft, float positionLimitHiSoft, float positionLimitLoHard, float positionLimitHiHard)
float	velocityControlWithAccelerationBounds (float dt, float maxDt, const float currentV, float targetV, float maxV, float acceleration, float deceleration, float directSetVLimit)