BasicControllers.h File Reference

#include <cmath>
#include <type_traits>
#include <ArmarXCore/core/util/algorithm.h>
#include <RobotAPI/libraries/core/PIDController.h>
#include <RobotAPI/libraries/core/math/MathUtils.h>

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Classes
struct	deltas
class	MinJerkPositionController
struct	MinJerkPositionController::FixedMinJerkState
struct	MinJerkPositionController::Output
struct	MinJerkPositionController::State
struct	PositionThroughVelocityControllerWithAccelerationAndPositionBounds
struct	PositionThroughVelocityControllerWithAccelerationBounds
struct	PositionThroughVelocityControllerWithAccelerationBoundsAndPeriodicPosition
struct	PositionThroughVelocityControllerWithAccelerationRamps
struct	PositionThroughVelocityControllerWithAccelerationRamps::Output
class	RampedAccelerationVelocityControllerConfiguration
struct	VelocityControllerWithAccelerationAndPositionBounds
	Performs velocity control while staying in positional bounds, obeying acceleration / deceleration and staying below a velocity bound. More...
struct	VelocityControllerWithAccelerationBounds
struct	VelocityControllerWithRampedAcceleration
struct	VelocityControllerWithRampedAcceleration::Output
struct	VelocityControllerWithRampedAccelerationAndPositionBounds

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

Typedefs
typedef std::shared_ptr< const RampedAccelerationVelocityControllerConfiguration >	RampedAccelerationVelocityControllerConfigurationCPtr
typedef std::shared_ptr< class RampedAccelerationVelocityControllerConfiguration >	RampedAccelerationVelocityControllerConfigurationPtr

Functions
deltas	accelerateToVelocity (float v0, float acc, float vt)
float	angleDistance (float angle1, float angle2)
float	brakingDistance (float v0, float deceleration)
void	findVelocityAndAccelerationForTimeAndDistance (float distance, float v0, float vmax, float dec, std::array< deltas, 3 > trapeze, float newDt, float &newV, float &newAcc, float &newDec)
template<class T , class = typename std::enable_if<std::is_floating_point<T>::value>::type>
T	periodicClamp (T value, T periodLo, T periodHi)
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)
template<class T , class = typename std::enable_if<std::is_floating_point<T>::value>::type>
std::pair< T, T >	pq (T p, T q)
std::array< deltas, 3 >	trapeze (float v0, float acc, float vMax, float dec, float vt, float dx)
float	trapezeArea (float v0, float vmax, float dt1, float dt2, float dt3)
std::array< deltas, 3 >	trapezeWithDt (float v0, float acc, float vMax, float dec, float vt, float dx, float dt)
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)