Project Chrono: chrono::utils::ChMotionFilterSecondOrder Class Reference

Public Member Functions | List of all members
chrono::utils::ChMotionFilterSecondOrder Class Reference
Chrono::Engine » Utility classes

## Description

Second-order nonlinear filter for smoothing basic motion laws (e.g.

step, linear ramp) given maximum (symmetrical) velocity and acceleration constraints. Output is analogous to a Constant Acceleration motion profile.

`#include <ChFilters.h>`

Inheritance diagram for chrono::utils::ChMotionFilterSecondOrder:
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Collaboration diagram for chrono::utils::ChMotionFilterSecondOrder:
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## Public Member Functions
| ChMotionFilterSecondOrder (double vmax, double amax, double timestep)
void | Config (double vmax, double amax, double timestep)
| Configure filter parameters.
virtual void | Reset () override
| Reset state variables.
double | Filter (double raw_setpos, double raw_setvel)
| Given instantaneous raw position and velocity setpoints, compute filtered pos/vel/acc and return filtered position.
Public Member Functions inherited from chrono::utils::ChMotionFilter
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.

## Additional Inherited Members
Protected Attributes inherited from chrono::utils::ChMotionFilter
double | m_filtpos = 0
| filtered position setpoint
double | m_filtvel = 0
| filtered velocity setpoint
double | m_filtacc = 0
| filtered acceleration

## Member Function Documentation

## ◆ Reset()

void chrono::utils::ChMotionFilterSecondOrder::Reset | ( |  | ) |
| overridevirtual

Reset state variables.

Implements chrono::utils::ChMotionFilter.

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

- D:/W/B/src/chrono-9.0.1/src/chrono/utils/ChFilters.h
- D:/W/B/src/chrono-9.0.1/src/chrono/utils/ChFilters.cpp