Marco De Silva / ARMControl

con arm control a libreria

FollowFilter.h@0:843c9f29adde, 2021-10-04 (annotated)

Committer:
marcodesilva
Date:
Mon Oct 04 13:34:22 2021 +0000
Revision:
0:843c9f29adde
arm control rendi libreria ;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
marcodesilva 0:843c9f29adde 1 #ifndef FOLLOW_FILTER_H
marcodesilva 0:843c9f29adde 2 #define FOLLOW_FILTER_H
marcodesilva 0:843c9f29adde 3
marcodesilva 0:843c9f29adde 4 #include "mbed.h"
marcodesilva 0:843c9f29adde 5 #include <Eigen/Dense.h>
marcodesilva 0:843c9f29adde 6
marcodesilva 0:843c9f29adde 7 using namespace Eigen;
marcodesilva 0:843c9f29adde 8
marcodesilva 0:843c9f29adde 9 class FollowFilter
marcodesilva 0:843c9f29adde 10 {
marcodesilva 0:843c9f29adde 11 public:
marcodesilva 0:843c9f29adde 12 FollowFilter(VectorXf _omega, VectorXf _zita, VectorXf _maxJerk, VectorXf _maxAcc, VectorXf _maxVel, VectorXf _maxPos, VectorXf _minPos);
marcodesilva 0:843c9f29adde 13 void setFollowFilterParameters(VectorXf _omega, VectorXf _zita, VectorXf _maxJerk, VectorXf _maxAcc, VectorXf _maxVel, VectorXf _maxPos, VectorXf _minPos);
marcodesilva 0:843c9f29adde 14 void initFollowFilter(VectorXf _first_q);
marcodesilva 0:843c9f29adde 15 void updateFollowFilter(VectorXf q_in, float deltaT);
marcodesilva 0:843c9f29adde 16 void getJointCmd(VectorXf &q_cmd, VectorXf &dq_cmd,VectorXf &ddq_cmd);
marcodesilva 0:843c9f29adde 17
marcodesilva 0:843c9f29adde 18 private:
marcodesilva 0:843c9f29adde 19
marcodesilva 0:843c9f29adde 20 VectorXf q_filtered;
marcodesilva 0:843c9f29adde 21 VectorXf dq_filtered;
marcodesilva 0:843c9f29adde 22 VectorXf ddq_filtered;
marcodesilva 0:843c9f29adde 23 VectorXf first_q;
marcodesilva 0:843c9f29adde 24 VectorXf omega;
marcodesilva 0:843c9f29adde 25 VectorXf zita;
marcodesilva 0:843c9f29adde 26 VectorXf maxJerk;
marcodesilva 0:843c9f29adde 27 VectorXf maxAcc;
marcodesilva 0:843c9f29adde 28 VectorXf maxVel;
marcodesilva 0:843c9f29adde 29 VectorXf maxPos;
marcodesilva 0:843c9f29adde 30 VectorXf minPos;
marcodesilva 0:843c9f29adde 31
marcodesilva 0:843c9f29adde 32 };
marcodesilva 0:843c9f29adde 33
marcodesilva 0:843c9f29adde 34 #endif