chrono::utils::ChMotionFilter Class Referenceabstract
Description
Base class for smoothing basic motion laws with discrete time-domain nonlinear filters.
Useful to track on the fly externally-provided signals (e.g. by joystick, teach pendant) with a continuous motion profile.
#include <ChFilters.h>
Inheritance diagram for chrono::utils::ChMotionFilter:

Public Member Functions | |
virtual void | Reset ()=0 |
Reset state variables. | |
virtual double | GetFilteredPos () const |
Get last filtered position computed. | |
virtual double | GetFilteredVel () const |
Get last filtered velocity computed. | |
virtual double | GetFilteredAcc () const |
Get last filtered acceleration computed. | |
Protected Attributes | |
double | m_filtpos = 0 |
filtered position setpoint | |
double | m_filtvel = 0 |
filtered velocity setpoint | |
double | m_filtacc = 0 |
filtered acceleration | |
Member Function Documentation
◆ Reset()
|
pure virtual |
Reset state variables.
Implemented in chrono::utils::ChMotionFilterSecondOrder, and chrono::utils::ChMotionFilterThirdOrder.
The documentation for this class was generated from the following file:
- C:/M/B/src/chrono-9.0.1/src/chrono/utils/ChFilters.h