{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/32","repository_url":"https://api.github.com/repos/robotology/WB-Toolbox","labels_url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/32/labels{/name}","comments_url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/32/comments","events_url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/32/events","html_url":"https://github.com/robotology/WB-Toolbox/issues/32","id":167378627,"number":32,"title":"Minimum Jerk generator and variable settling time","user":{"login":"francesco-romano","id":2189180,"avatar_url":"https://avatars.githubusercontent.com/u/2189180?v=3","gravatar_id":"","url":"https://api.github.com/users/francesco-romano","html_url":"https://github.com/francesco-romano","followers_url":"https://api.github.com/users/francesco-romano/followers","following_url":"https://api.github.com/users/francesco-romano/following{/other_user}","gists_url":"https://api.github.com/users/francesco-romano/gists{/gist_id}","starred_url":"https://api.github.com/users/francesco-romano/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/francesco-romano/subscriptions","organizations_url":"https://api.github.com/users/francesco-romano/orgs","repos_url":"https://api.github.com/users/francesco-romano/repos","events_url":"https://api.github.com/users/francesco-romano/events{/privacy}","received_events_url":"https://api.github.com/users/francesco-romano/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2016-07-25T14:23:40Z","updated_at":"2016-07-25T16:56:56Z","closed_at":null,"body":"The minimum jerk trajectory block (which uses the `iCub::ctrl::minJerkTrajGen` class) has now the option to change the settling time during the simulation.\r\n\r\nThe behaviour of the \"position\" can be observed in the following plot, where the reference is a step of amplitude 1 at t=2s, and the settling time is changed at t = 2.75s.\r\n\r\n![screen shot 2016-07-25 at 16 15 12](https://cloud.githubusercontent.com/assets/2189180/17104376/fc090e3e-5282-11e6-99b1-d5560ea969ac.png)\r\n\r\nWe expect the signal to have continuous derivatives, but if we plot the first derivative we obtain the following:\r\n\r\n![screen shot 2016-07-25 at 16 20 23](https://cloud.githubusercontent.com/assets/2189180/17104559/be86c078-5283-11e6-80d8-482b865cab03.png)\r\nwhere the first plot is the position signal, and the second plot has the derivative output by the generator in yellow and the real derivative in blue.\r\n\r\nThis issue is (probably) just for reference as (maybe) the `minJerkTrajGen` was never thought to be used in this way. \r\n\r\ncc @DanielePucci @traversaro @S-Dafarra \r\n@pattacini "},"comment":{"url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/comments/235014063","html_url":"https://github.com/robotology/WB-Toolbox/issues/32#issuecomment-235014063","issue_url":"https://api.github.com/repos/robotology/WB-Toolbox/issues/32","id":235014063,"user":{"login":"francesco-romano","id":2189180,"avatar_url":"https://avatars.githubusercontent.com/u/2189180?v=3","gravatar_id":"","url":"https://api.github.com/users/francesco-romano","html_url":"https://github.com/francesco-romano","followers_url":"https://api.github.com/users/francesco-romano/followers","following_url":"https://api.github.com/users/francesco-romano/following{/other_user}","gists_url":"https://api.github.com/users/francesco-romano/gists{/gist_id}","starred_url":"https://api.github.com/users/francesco-romano/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/francesco-romano/subscriptions","organizations_url":"https://api.github.com/users/francesco-romano/orgs","repos_url":"https://api.github.com/users/francesco-romano/repos","events_url":"https://api.github.com/users/francesco-romano/events{/privacy}","received_events_url":"https://api.github.com/users/francesco-romano/received_events","type":"User","site_admin":false},"created_at":"2016-07-25T16:56:56Z","updated_at":"2016-07-25T16:56:56Z","body":"Ok.\r\nI'll keep this open until I find a nice way to include it in a sort of f.a.q. of the project.\r\n\r\nThanks @pattacini "}}
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