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iCub::ctrl Namespace Reference

Namespaces

 dbscan
 

Classes

class  AWLinEstimator
 Adaptive window linear fitting to estimate the first derivative. More...
 
class  AWPolyElement
 Basic element for adaptive polynomial fitting. More...
 
class  AWPolyEstimator
 Adaptive window polynomial fitting. More...
 
class  AWQuadEstimator
 Adaptive window quadratic fitting to estimate the second derivative. More...
 
class  Clustering
 Abstract class for clustering. More...
 
struct  Code
 Code. More...
 
class  DBSCAN
 Data clustering based on DBSCAN algorithm. More...
 
class  ff2LayNN
 Feed-Forward 2 layers Neural Network. More...
 
class  ff2LayNN_tansig_purelin
 Feed-Forward 2 layers Neural Network with a tansig function for the hidden nodes and a purelin for the output nodes. More...
 
class  Filter
 IIR and FIR. More...
 
class  FirstOrderLowPassFilter
 First order low pass filter implementing the transfer function H(s) = {1}{1+ s}. More...
 
class  FunctionEncoder
 Abstract class to deal with function encoding. More...
 
class  helperPID
 Helper class providing useful methods to deal with pid options. More...
 
class  IFilter
 Interface for the filters implemented in iCub::crtl. More...
 
class  Integrator
 A class for defining a saturated integrator based on Tustin formula: $ 1/s => T_s/2*(z+1)/(z-1) $. More...
 
class  Kalman
 Classic Kalman estimator. More...
 
class  MedianFilter
 Median Filter. More...
 
class  minJerkBaseGen
 Base class for minimum jerk generators. More...
 
class  minJerkRefGen
 Generator of position, velocity and acceleration references that are approximately minimum jerk. More...
 
class  minJerkTrajGen
 Generator of approximately minimum jerk trajectories. More...
 
class  minJerkVelCtrl
 Abstract class for minimum-jerk controllers with velocity commands. More...
 
class  minJerkVelCtrlForIdealPlant
 Implements a minimum-jerk controller with velocity commands in the assumption that the plant can be modelled as a pure integrator 1/s. More...
 
class  minJerkVelCtrlForNonIdealPlant
 Implements a minimum-jerk controller with velocity commands assuming a non ideal plant represented with a pure integrator followed by a system with one zero and two poles (real or underdamped), such that the overall transfer function is (1/s)*(Kp*(1+Tz*s)/(1+2*Zeta*Tw*s+(Tw*s)^2)). More...
 
class  ModifiedThompsonTau
 Perform modified Thompson tau technique for outlier detection. More...
 
class  OnlineCompensatorDesign
 Online Compensator Design. More...
 
class  OnlineDCMotorEstimator
 Online DC Motor Parameters Estimator. More...
 
class  OnlineStictionEstimator
 Online Stiction Estimator. More...
 
class  OutliersDetection
 Abstract class for outliers detection. More...
 
class  parallelPID
 General structure of parallel (non-interactive) PID. More...
 
class  RateLimiter
 Rate Limiter. More...
 
class  Riccati
 Classic Riccati recursive formula for optimal control in a LQ problem. More...
 
class  seriesPID
 General structure of series (interactive) PID. More...
 
class  WaveletEncoder
 Encode any given function as a set of wavelet coefficients. More...
 

Typedefs

typedef std::deque< AWPolyElementAWPolyList
 

Functions

double dot (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
 Returns the dot product between two vectors given in the form: matrix(:,col). More...
 
double norm2 (const yarp::sig::Matrix &M, int col)
 Returns the squared norm of the vector given in the form: matrix(:,col). More...
 
double norm (const yarp::sig::Matrix &M, int col)
 Returns the norm of the vector given in the form: matrix(:,col). More...
 
yarp::sig::Vector cross (const yarp::sig::Matrix &A, int colA, const yarp::sig::Matrix &B, int colB)
 Returns the cross product between two vectors given in the form: matrix(:,col). More...
 
yarp::sig::Vector Dcross (const yarp::sig::Vector &a, const yarp::sig::Vector &Da, const yarp::sig::Vector &b, const yarp::sig::Vector &Db)
 Returns the derivatice of cross product between two vectors. More...
 
yarp::sig::Vector Dcross (const yarp::sig::Matrix &A, const yarp::sig::Matrix &DA, int colA, const yarp::sig::Matrix &B, const yarp::sig::Matrix &DB, int colB)
 Returns the derivative of cross product between two vectors given in the form: matrix(:,col). More...
 
double waveletIntegrand (double x, void *params)
 

Variables

const double CTRL_PI =M_PI
 The PI constant. More...
 
const double CTRL_RAD2DEG =180.0/M_PI
 180/PI. More...
 
const double CTRL_DEG2RAD =M_PI/180.0
 PI/180. More...
 
double waveLUP [WAVELET_LUP_SIZE][2]
 

Typedef Documentation

◆ AWPolyList

Definition at line 65 of file adaptWinPolyEstimator.h.

Function Documentation

◆ waveletIntegrand()

double iCub::ctrl::waveletIntegrand ( double  x,
void *  params 
)

Definition at line 100 of file functionEncoder.cpp.

Variable Documentation

◆ CTRL_DEG2RAD

const double iCub::ctrl::CTRL_DEG2RAD =M_PI/180.0

PI/180.

Definition at line 29 of file math.cpp.

◆ CTRL_PI

const double iCub::ctrl::CTRL_PI =M_PI

The PI constant.

Definition at line 27 of file math.cpp.

◆ CTRL_RAD2DEG

const double iCub::ctrl::CTRL_RAD2DEG =180.0/M_PI

180/PI.

Definition at line 28 of file math.cpp.

◆ waveLUP

double iCub::ctrl::waveLUP[WAVELET_LUP_SIZE][2]

Definition at line 41 of file functionEncoder.cpp.