TrajControl Class Reference
[Trajectory control]

Class implementing control law to track Trajectories. More...

#include <TrajControl.h>

List of all members.

Public Member Functions
	TrajControl ()
	Default constructor.
void	openLoop (AnalyticalTrajectory ref, VelVec &Vr, Time time)
	Implements an open loop control.
void	nonlinear (AnalyticalTrajectory refTraj, VelVec &vr, Time time, TrajectoryState mState)
	Implements a non-linear control.
void	DFL (AnalyticalTrajectory &trif, VelVec &vr, Decimal tos, Time time, TrajectoryState mState)
	Implements a DFL control.
void	FL (AnalyticalTrajectory &trif, VelVec &vr, Decimal tos, Time time, TrajectoryState mState)
	Implements a FL control of a point 5 cm ahed the robot.
void	openLoop (OpenLoopIn &input, VelVec &vr, Time &time)
	Implements an open loop control.
void	nonlinear (NonlinearIn &input, VelVec &vr, Time &time)
	Implements a non-linear control.
void	DFL (DFLIn &input, VelVec &vr)
	Implements a DFL control.
void	Tustin (Angle angReff, VelVec &Vr, TrajectoryState mState)
void	reset ()
	Reset the state and the timer.

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Detailed Description

Class implementing control law to track Trajectories.

Implemented the following control laws:
1) open loop control law;
2) nonlinear feedback control law;
3) dynamic feedback linearization control law (DFL);

Author:

Antonio Franchi and Marco Barbalinardo - email:barba82@yahoo.it

Date:

2008/12/13

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Constructor & Destructor Documentation

TrajControl::TrajControl

(

)

Default constructor.

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Member Function Documentation

void TrajControl::openLoop	(	AnalyticalTrajectory	ref,
		VelVec &	Vr,
		Time	time
	)

Implements an open loop control.

Computes the speed commands for a robot to execute in open-loop a given trajectory defined in XY.

Parameters:

[in]	ref	Reference trajectory.
[out]	&Vr	Speed commands.
[in]	time	Time of evaluation (given by caller).

void TrajControl::nonlinear	(	AnalyticalTrajectory	refTraj,
		VelVec &	vr,
		Time	time,
		TrajectoryState	mState
	)

Implements a non-linear control.

Parameters:

[in]	refTraj	Reference trajectory.
[out]	&vr	Speed commands.
[in]	mState	Time of evaluation (given by caller).

void TrajControl::DFL	(	AnalyticalTrajectory &	trif,
		VelVec &	vr,
		Decimal	tos,
		Time	time,
		TrajectoryState	mState
	)

Implements a DFL control.

Parameters:

[in]	trif	Reference trajectory.
[out]	&vr	Speed commands.
[in]	tos	Time of sampling.
[in]	mState	Time of evaluation (given by caller).

void TrajControl::FL	(	AnalyticalTrajectory &	trif,
		VelVec &	vr,
		Decimal	tos,
		Time	time,
		TrajectoryState	mState
	)

Implements a FL control of a point 5 cm ahed the robot.

Parameters:

[in]	trif	Reference trajectory.
[out]	&vr	Speed commands.
[in]	tos	Time of sampling.
[in]	mState	Time of evaluation (given by caller).

void TrajControl::openLoop	(	OpenLoopIn &	input,
		VelVec &	vr,
		Time &	time
	)

Implements an open loop control.

Computes the speed commands for a robot to execute in open-loop a given trajectory defined in XY.

Parameters:

[in]	&input	Input of the open loop control law.
[out]	&Vr	Computed speed commands.
[in]	&time	Time of evaluation (given by caller).

void TrajControl::nonlinear	(	NonlinearIn &	input,
		VelVec &	vr,
		Time &	time
	)

Implements a non-linear control.

Parameters:

[in]	&input	Input of the nonlinear control law.
[out]	&vr	Computed speed commands.
[in]	&time	Time of evaluation (given by caller).

void TrajControl::DFL	(	DFLIn &	input,
		VelVec &	vr
	)

Implements a DFL control.

Parameters:

[in]	&input	Input of the DFL control law.
[out]	&vr	Computed speed commands.

void TrajControl::Tustin	(	Angle	angReff,
		VelVec &	Vr,
		TrajectoryState	mState
	)

Parameters:

	trif
	Vr
	time
	MState

void TrajControl::reset

(

)

[inline]

Reset the state and the timer.

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

• algorithms/TrajControl/TrajControl.h
• algorithms/TrajControl/TrajControl.cpp