wbc::JointIntegrator Class Reference

The JointIntegrator class implements different numerical integrators. More...

#include <JointIntegrator.hpp>

Public Member Functions
	JointIntegrator ()
void	integrate (const base::samples::Joints &joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method=RECTANGULAR, bool use_cur_state=false)
	Performs numerical from acceleration/velocity to positions.
void	integrateRectangular (base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)
	Performs numerical from acceleration/velocity to positions using rectangular method.
void	integrateTrapezoidal (base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)
	Trapezoidal method for numerical integration.
base::JointState::MODE	cmdMode (const base::JointState &cmd)
	cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields
void	reinit ()
	Reinitialize state of the integrator.

Detailed Description

The JointIntegrator class implements different numerical integrators.

Constructor & Destructor Documentation

JointIntegrator()

wbc::JointIntegrator::JointIntegrator ( )

inline

Member Function Documentation

cmdMode()

base::JointState::MODE wbc::JointIntegrator::cmdMode

(

const base::JointState &

cmd

)

cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields

integrate()

void wbc::JointIntegrator::integrate	(	const base::samples::Joints &	joint_state,
		base::commands::Joints &	cmd,
		double	cycle_time,
		IntegrationMethod	method = RECTANGULAR,
		bool	use_cur_state = false )

Performs numerical from acceleration/velocity to positions.

Parameters

cmd	Input joint command, wil be modified by the method
cycle_time	Period between two consecutive calls in seconds
method	Integration method to use
use_cur_state	Integrate from internal (interpolated) state or from current joint state. In the first case, the integrator will not be aware of the current robot state and integrated position/velocity vs. real robot position/velocity may drift apart. As a rule-of-thumb, for stiff, position-controlled robots, use_cur_state should be false, while for compliant robots that have environment contacts, e.g., walking robots, use_cur_state should be true.

integrateRectangular()

void wbc::JointIntegrator::integrateRectangular	(	base::commands::Joints &	cmd,
		double	cycle_time,
		bool	use_cur_state = false )

Performs numerical from acceleration/velocity to positions using rectangular method.

Parameters

cmd	Input joint command, wil be modified by the method
cycle_time	Period between two consecutive calls in seconds

integrateTrapezoidal()

void wbc::JointIntegrator::integrateTrapezoidal	(	base::commands::Joints &	cmd,
		double	cycle_time,
		bool	use_cur_state = false )

Trapezoidal method for numerical integration.

Parameters

cmd	Input joint command, wil be modified by the method
cycle_time	Period between two consecutive calls in seconds

reinit()

void wbc::JointIntegrator::reinit ( )

inline

Reinitialize state of the integrator.

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

• src/tools/JointIntegrator.hpp
• src/tools/JointIntegrator.cpp