motor_controller::IRSpeedFromPositionFilter Class Reference

#include <IRSpeedFromPositionFilter.hpp>

Public Member Functions
	IRSpeedFromPositionFilter (float factor, size_t size=0)
bool	update (base::samples::Joints &joints, bool force=false)

Detailed Description

This simple class applies a IR filter on a JointState to estimate the velocity. It will work only on the JointState objects that do not have the velocity set

Constructor & Destructor Documentation

IRSpeedFromPositionFilter::IRSpeedFromPositionFilter	(	float	factor,
		size_t	size = 0
	)

Parameters

factor

the IR filter factor. A velocity update is factor * new + (1-factor)*old

Member Function Documentation

bool IRSpeedFromPositionFilter::update	(	base::samples::Joints &	joints,
		bool	force = false
	)

Update the velocities in the given structure, modifying it, if possible

Parameters

force

if true, all velocities are updated. Otherwise, only the ones that are currently unset will be computed

Returns

true if the velocities have been updated (there was enough information to compute it) and false otherwise.

---

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

• /build/rock-master-18.09-control-motor-controller-0.20160617/src/IRSpeedFromPositionFilter.hpp
• /build/rock-master-18.09-control-motor-controller-0.20160617/src/IRSpeedFromPositionFilter.cpp