The JointIntegrator class implements different numerical integrators.
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#include <JointIntegrator.hpp>
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| JointIntegrator () |
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void | integrate (const types::JointState &joint_state, types::JointCommand &cmd, double cycle_time, types::CommandMode mode, IntegrationMethod method=RECTANGULAR, bool use_cur_state=false) |
| Performs numerical from acceleration/velocity to positions.
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void | integrateRectangular (types::JointCommand &cmd, double cycle_time, types::CommandMode mode, bool use_cur_state=false) |
| Performs numerical from acceleration/velocity to positions using rectangular method.
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void | integrateTrapezoidal (types::JointCommand &cmd, double cycle_time, types::CommandMode mode, bool use_cur_state=false) |
| Trapezoidal method for numerical integration.
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void | reinit () |
| Reinitialize state of the integrator.
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The JointIntegrator class implements different numerical integrators.
◆ JointIntegrator()
wbc::JointIntegrator::JointIntegrator |
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◆ integrate()
Performs numerical from acceleration/velocity to positions.
- Parameters
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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()
Performs numerical from acceleration/velocity to positions using rectangular method.
- Parameters
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cmd | Input joint command, wil be modified by the method |
cycle_time | Period between two consecutive calls in seconds |
◆ integrateTrapezoidal()
Trapezoidal method for numerical integration.
- Parameters
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cmd | Input joint command, wil be modified by the method |
cycle_time | Period between two consecutive calls in seconds |
◆ reinit()
void wbc::JointIntegrator::reinit |
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inline |
Reinitialize state of the integrator.
The documentation for this class was generated from the following files: