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

Member Function Documentation

getTargetPosition()

double getTargetPosition

(

)

const

reset()

void reset

(

)

run()

MinJerkPositionController::Output run

(

)

setTargetPosition()

void setTargetPosition

(

double

value

)

Member Data Documentation

currentAcc

double currentAcc

currentP_Phase2

double currentP_Phase2 = -1

protected

currentP_Phase3

double currentP_Phase3 = -1

protected

currentPosition

double currentPosition

currentTime

double currentTime = 0

protected

currentV

double currentV

desiredDeceleration

double desiredDeceleration

desiredJerk

double desiredJerk

dt

double dt

finishTime

double finishTime = 0

protected

fixedMinJerkState

std::unique_ptr<FixedMinJerkState> fixedMinJerkState

protected

maxDt

double maxDt

maxV

double maxV

p

double p = 1.0

p_adjust_ratio

double p_adjust_ratio = 0.8

phase2SwitchDistance

double phase2SwitchDistance = 0.1

phase2SwitchMaxRemainingTime

double phase2SwitchMaxRemainingTime = 0.2

targetPosition

double targetPosition

protected

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

• RobotAPI/components/units/RobotUnit/BasicControllers.h
• RobotAPI/components/units/RobotUnit/BasicControllers.cpp