Detailed Description

Triple integrator class Class supports arbitrary number of integrators in the system.

This class generates matrices of the following systems:

1) controlled by acceleration x(k+1) = A x(k) + B ddx(k+1) dddx(k) = D x(k) + E ddx(k+1)

2) controlled by velocity x(k+1) = A x(k) + B dx(k+1) dddx(k) = D x(k) + E dx(k+1)

3) controlled by position x(k+1) = A x(k) + B x(k+1) dddx(k) = D x(k) + E x(k+1)

4) controlled by jerk x(k+1) = A x(k) + B dddx(k+1)

Definition at line 37 of file triple_integrator.h.

#include <triple_integrator.h>

Inheritance diagram for humoto::rigidbody::TripleIntegrator:

Static Public Member Functions
template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAAcc (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAJerk (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAPos (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsAcc (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsPos (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAsVel (const double T, const double Ts)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getAVel (const double T)
	Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBAcc (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBJerk (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBPos (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsAcc (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsPos (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBsVel (const double T, const double Ts)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getBVel (const double T)
	Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDAcc (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDPos (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getDVel (const double T)
	Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEAcc (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEPos (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

template<std::size_t t_number_of_integrators>
static EIGENTOOLS_CONSTANT_SIZE_MATRIX	getEVel (const double T)
	Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position]. More...

Member Function Documentation

◆ getAAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAAcc ( const double T )

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 67 of file triple_integrator.h.

◆ getAJerk()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAJerk ( const double T )

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 53 of file triple_integrator.h.

◆ getAPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAPos ( const double T )

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 93 of file triple_integrator.h.

◆ getAsAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsAcc	(	const double	T,
		const double	Ts
	)

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 118 of file triple_integrator.h.

◆ getAsPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsPos	(	const double	T,
		const double	Ts
	)

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 146 of file triple_integrator.h.

◆ getAsVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAsVel	(	const double	T,
		const double	Ts
	)

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: A matrix

Definition at line 132 of file triple_integrator.h.

◆ getAVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getAVel ( const double T )

inlinestatic

Create A matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 80 of file triple_integrator.h.

◆ getBAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBAcc ( const double T )

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 188 of file triple_integrator.h.

◆ getBJerk()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBJerk ( const double T )

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 174 of file triple_integrator.h.

◆ getBPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBPos ( const double T )

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 214 of file triple_integrator.h.

◆ getBsAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsAcc	(	const double	T,
		const double	Ts
	)

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 238 of file triple_integrator.h.

◆ getBsPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsPos	(	const double	T,
		const double	Ts
	)

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 266 of file triple_integrator.h.

◆ getBsVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBsVel	(	const double	T,
		const double	Ts
	)

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in]	T	sampling time
[in]	Ts	subsampling time

Returns: B3 matrix

Definition at line 252 of file triple_integrator.h.

◆ getBVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getBVel ( const double T )

inlinestatic

Create B matrix of the model, suffix of the function name indicates the type of control [jerk, acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: B3 matrix

Definition at line 201 of file triple_integrator.h.

◆ getDAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDAcc ( const double T )

inlinestatic

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 294 of file triple_integrator.h.

◆ getDPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDPos ( const double T )

inlinestatic

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 316 of file triple_integrator.h.

◆ getDVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getDVel ( const double T )

inlinestatic

Create D matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 305 of file triple_integrator.h.

◆ getEAcc()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEAcc ( const double T )

inlinestatic

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 340 of file triple_integrator.h.

◆ getEPos()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEPos ( const double T )

inlinestatic

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 362 of file triple_integrator.h.

◆ getEVel()

template<std::size_t t_number_of_integrators>

static EIGENTOOLS_CONSTANT_SIZE_MATRIX humoto::rigidbody::TripleIntegrator::getEVel ( const double T )

inlinestatic

Create E matrix of the model, suffix of the function name indicates the type of control [acc = acceleration, vel = velocity, pos = position].

Template Parameters

t_number_of_integrators number of integrators in the system

Parameters

[in] T sampling time

Returns: A matrix

Definition at line 351 of file triple_integrator.h.

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

core/include/rigid_body/triple_integrator.h

Detailed Description

Static Public Member Functions

Member Function Documentation

◆ getAAcc()

◆ getAJerk()

◆ getAPos()

◆ getAsAcc()

◆ getAsPos()

◆ getAsVel()

◆ getAVel()

◆ getBAcc()

◆ getBJerk()

◆ getBPos()

◆ getBsAcc()

◆ getBsPos()

◆ getBsVel()

◆ getBVel()

◆ getDAcc()

◆ getDPos()

◆ getDVel()

◆ getEAcc()

◆ getEPos()

◆ getEVel()