chrono::utils::ChMotionFilterSecondOrder Class Reference
Description
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 | |
Member Function Documentation
◆ Reset()
|
overridevirtual |
Reset state variables.
Implements chrono::utils::ChMotionFilter.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono/utils/ChFilters.h
- C:/M/B/src/chrono-9.0.1/src/chrono/utils/ChFilters.cpp
Public Member Functions inherited from