diff --git a/JointIntegrator_8hpp_source.html b/JointIntegrator_8hpp_source.html index 3b172590..a653d522 100644 --- a/JointIntegrator_8hpp_source.html +++ b/JointIntegrator_8hpp_source.html @@ -86,30 +86,31 @@
17class JointIntegrator{
18 bool initialized;
19 base::commands::Joints prev_cmd;
-
20public:
-
21 JointIntegrator() : initialized(false){}
-
27 void integrate(const base::samples::Joints& joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method = TRAPEZOIDAL);
-
33 void integrateRectangular(base::commands::Joints &cmd, double cycle_time);
-
39 void integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time);
-
43 base::JointState::MODE cmdMode(const base::JointState &cmd);
-
47 void reinit(){initialized = false;}
-
48};
+
20 base::samples::Joints cur_joint_state;
+
21public:
+
22 JointIntegrator() : initialized(false){}
+
32 void integrate(const base::samples::Joints& joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method = RECTANGULAR, bool use_cur_state = false);
+
38 void integrateRectangular(base::commands::Joints &cmd, double cycle_time, bool use_cur_state = false);
+
44 void integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time, bool use_cur_state = false);
+
48 base::JointState::MODE cmdMode(const base::JointState &cmd);
+
52 void reinit(){initialized = false;}
+
53};
-
49
-
50}
-
51
-
52#endif
+
54
+
55}
+
56
+
57#endif
IntegrationMethod
IntegrationMethod
Definition JointIntegrator.hpp:6
TRAPEZOIDAL
@ TRAPEZOIDAL
Definition JointIntegrator.hpp:9
NONE
@ NONE
Definition JointIntegrator.hpp:7
RECTANGULAR
@ RECTANGULAR
Definition JointIntegrator.hpp:8
wbc::JointIntegrator
The JointIntegrator class implements different numerical integrators.
Definition JointIntegrator.hpp:17
-
wbc::JointIntegrator::integrateRectangular
void integrateRectangular(base::commands::Joints &cmd, double cycle_time)
Performs numerical from acceleration/velocity to positions using rectangular method.
Definition JointIntegrator.cpp:46
-
wbc::JointIntegrator::integrateTrapezoidal
void integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time)
Trapezoidal method for numerical integration.
Definition JointIntegrator.cpp:70
-
wbc::JointIntegrator::JointIntegrator
JointIntegrator()
Definition JointIntegrator.hpp:21
-
wbc::JointIntegrator::reinit
void reinit()
Reinitialize state of the integrator.
Definition JointIntegrator.hpp:47
-
wbc::JointIntegrator::integrate
void integrate(const base::samples::Joints &joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method=TRAPEZOIDAL)
Performs numerical from acceleration/velocity to positions.
Definition JointIntegrator.cpp:6
-
wbc::JointIntegrator::cmdMode
base::JointState::MODE cmdMode(const base::JointState &cmd)
cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields
Definition JointIntegrator.cpp:95
+
wbc::JointIntegrator::integrateTrapezoidal
void integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)
Trapezoidal method for numerical integration.
Definition JointIntegrator.cpp:77
+
wbc::JointIntegrator::integrateRectangular
void integrateRectangular(base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)
Performs numerical from acceleration/velocity to positions using rectangular method.
Definition JointIntegrator.cpp:47
+
wbc::JointIntegrator::JointIntegrator
JointIntegrator()
Definition JointIntegrator.hpp:22
+
wbc::JointIntegrator::reinit
void reinit()
Reinitialize state of the integrator.
Definition JointIntegrator.hpp:52
+
wbc::JointIntegrator::integrate
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.
Definition JointIntegrator.cpp:6
+
wbc::JointIntegrator::cmdMode
base::JointState::MODE cmdMode(const base::JointState &cmd)
cmdType Return the control model type POSITION/VELOCITY/ACCELERATION depending on the valid fields
Definition JointIntegrator.cpp:107
wbc
Definition ContactsAccelerationConstraint.cpp:3
diff --git a/classwbc_1_1JointIntegrator-members.html b/classwbc_1_1JointIntegrator-members.html index 1e666ed0..04ad1b95 100644 --- a/classwbc_1_1JointIntegrator-members.html +++ b/classwbc_1_1JointIntegrator-members.html @@ -71,9 +71,9 @@

This is the complete list of members for wbc::JointIntegrator, including all inherited members.

- - - + + +
cmdMode(const base::JointState &cmd)wbc::JointIntegrator
integrate(const base::samples::Joints &joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method=TRAPEZOIDAL)wbc::JointIntegrator
integrateRectangular(base::commands::Joints &cmd, double cycle_time)wbc::JointIntegrator
integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time)wbc::JointIntegrator
integrate(const base::samples::Joints &joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method=RECTANGULAR, bool use_cur_state=false)wbc::JointIntegrator
integrateRectangular(base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)wbc::JointIntegrator
integrateTrapezoidal(base::commands::Joints &cmd, double cycle_time, bool use_cur_state=false)wbc::JointIntegrator
JointIntegrator()wbc::JointIntegratorinline
reinit()wbc::JointIntegratorinline
diff --git a/classwbc_1_1JointIntegrator.html b/classwbc_1_1JointIntegrator.html index 00f8604d..e40f75c0 100644 --- a/classwbc_1_1JointIntegrator.html +++ b/classwbc_1_1JointIntegrator.html @@ -80,15 +80,15 @@ Public Member Functions  JointIntegrator ()   -void integrate (const base::samples::Joints &joint_state, base::commands::Joints &cmd, double cycle_time, IntegrationMethod method=TRAPEZOIDAL) - Performs numerical from acceleration/velocity to positions.
-  -void integrateRectangular (base::commands::Joints &cmd, double cycle_time) - Performs numerical from acceleration/velocity to positions using rectangular method.
-  -void integrateTrapezoidal (base::commands::Joints &cmd, double cycle_time) - Trapezoidal method for numerical integration.
-  +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
  @@ -144,8 +144,8 @@

-

◆ integrate()

+ +

◆ integrate()

@@ -168,7 +168,12 @@

- IntegrationMethod method = TRAPEZOIDAL ) + IntegrationMethod method = RECTANGULAR, + + + + + bool use_cur_state = false )

@@ -178,14 +183,16 @@

cmdInput joint command, wil be modified by the method cycle_timePeriod between two consecutive calls in seconds + methodIntegration method to use + use_cur_stateIntegrate 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()

+ +

◆ integrateRectangular()

@@ -198,7 +205,12 @@

- double cycle_time ) + double cycle_time, + + + + + bool use_cur_state = false )

@@ -214,8 +226,8 @@

-

◆ integrateTrapezoidal()

+ +

◆ integrateTrapezoidal()

@@ -228,7 +240,12 @@

- double cycle_time ) + double cycle_time, + + + + + bool use_cur_state = false )

diff --git a/doxygen_crawl.html b/doxygen_crawl.html index 25db977c..86906513 100644 --- a/doxygen_crawl.html +++ b/doxygen_crawl.html @@ -937,11 +937,11 @@ - - + + - + diff --git a/functions_func_i.html b/functions_func_i.html index 5ade0f37..6d846826 100644 --- a/functions_func_i.html +++ b/functions_func_i.html @@ -64,9 +64,9 @@

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diff --git a/functions_i.html b/functions_i.html index 81655af9..ca88a714 100644 --- a/functions_i.html +++ b/functions_i.html @@ -69,9 +69,9 @@

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