Project Chrono: chrono::utils::ChMotionFilter Class Reference

Public Member Functions | Protected Attributes | List of all members
chrono::utils::ChMotionFilter Class Referenceabstract
Chrono::Engine » Utility classes

## 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:
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## 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()

virtual void chrono::utils::ChMotionFilter::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:

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