List of all members | Classes | Public Member Functions | Public Attributes | Protected Attributes
MinJerkPositionController Class Reference

#include <RobotAPI/components/units/RobotUnit/BasicControllers.h>

Classes

struct  FixedMinJerkState
 
struct  Output
 
struct  State
 

Public Member Functions

double getTargetPosition () const
 
void reset ()
 
Output run ()
 
void setTargetPosition (double value)
 

Public Attributes

double currentAcc
 
double currentPosition
 
double currentV
 
double desiredDeceleration
 
double desiredJerk
 
double dt
 
double maxDt
 
double maxV
 
double p = 1.0
 
double p_adjust_ratio = 0.8
 
double phase2SwitchDistance = 0.1
 
double phase2SwitchMaxRemainingTime = 0.2
 

Protected Attributes

double currentP_Phase2 = -1
 
double currentP_Phase3 = -1
 
double currentTime = 0
 
double finishTime = 0
 
std::unique_ptr< FixedMinJerkState > fixedMinJerkState
 
double targetPosition
 

Detailed Description

Definition at line 471 of file BasicControllers.h.

Member Function Documentation

◆ getTargetPosition()

double getTargetPosition ( ) const

Definition at line 1280 of file BasicControllers.cpp.

◆ reset()

void reset ( )

Definition at line 1269 of file BasicControllers.cpp.

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◆ run()

MinJerkPositionController::Output run ( )

Definition at line 1553 of file BasicControllers.cpp.

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◆ setTargetPosition()

void setTargetPosition ( double  value)

Definition at line 1509 of file BasicControllers.cpp.

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Member Data Documentation

◆ currentAcc

double currentAcc

Definition at line 496 of file BasicControllers.h.

◆ currentP_Phase2

double currentP_Phase2 = -1
protected

Definition at line 507 of file BasicControllers.h.

◆ currentP_Phase3

double currentP_Phase3 = -1
protected

Definition at line 506 of file BasicControllers.h.

◆ currentPosition

double currentPosition

Definition at line 494 of file BasicControllers.h.

◆ currentTime

double currentTime = 0
protected

Definition at line 510 of file BasicControllers.h.

◆ currentV

double currentV

Definition at line 495 of file BasicControllers.h.

◆ desiredDeceleration

double desiredDeceleration

Definition at line 498 of file BasicControllers.h.

◆ desiredJerk

double desiredJerk

Definition at line 499 of file BasicControllers.h.

◆ dt

double dt

Definition at line 492 of file BasicControllers.h.

◆ finishTime

double finishTime = 0
protected

Definition at line 509 of file BasicControllers.h.

◆ fixedMinJerkState

std::unique_ptr<FixedMinJerkState> fixedMinJerkState
protected

Definition at line 511 of file BasicControllers.h.

◆ maxDt

double maxDt

Definition at line 493 of file BasicControllers.h.

◆ maxV

double maxV

Definition at line 497 of file BasicControllers.h.

◆ p

double p = 1.0

Definition at line 500 of file BasicControllers.h.

◆ p_adjust_ratio

double p_adjust_ratio = 0.8

Definition at line 503 of file BasicControllers.h.

◆ phase2SwitchDistance

double phase2SwitchDistance = 0.1

Definition at line 501 of file BasicControllers.h.

◆ phase2SwitchMaxRemainingTime

double phase2SwitchMaxRemainingTime = 0.2

Definition at line 502 of file BasicControllers.h.

◆ targetPosition

double targetPosition
protected

Definition at line 508 of file BasicControllers.h.

The documentation for this class was generated from the following files: