ActuatorPlan Class Reference

#include <model_brake.h>

List of all members.

Public Member Functions
	ActuatorPlan ()
void	append (double t, double a)
bool	finished ()
double	interval (double t, double finish)
void	log (void)
double	next (double now)
void	reset (void)
Private Attributes
int	nsteps_
	number of steps remaining
struct {
double   accel
	acceleration to apply
double   until
	time when done
}	steps_ [MAX_STEPS]
Static Private Attributes
static const int	MAX_STEPS = 2

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Detailed Description

Actuator movement plan.

This class is subordinate to ArtBrakeModel and not really independent of it, so it does not need a separate header.

Definition at line 31 of file model_brake.h.

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Constructor & Destructor Documentation

ActuatorPlan::ActuatorPlan

(

)

[inline]

Constructor.

Definition at line 36 of file model_brake.h.

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Member Function Documentation

void ActuatorPlan::append	(	double	t,
		double	a
	)			[inline]

Add a step to the current plan.

Definition at line 39 of file model_brake.h.

bool ActuatorPlan::finished

(

)

[inline]

Return true if no more movement planned.

Definition at line 50 of file model_brake.h.

double ActuatorPlan::interval	(	double	t,
		double	finish
	)			[inline]

Return smallest interval (in seconds) until end of: (1) finish time, (2) current plan step.

Definition at line 56 of file model_brake.h.

void ActuatorPlan::log

(

void

)

[inline]

Log the next plan step.

Definition at line 67 of file model_brake.h.

double ActuatorPlan::next

(

double

now

)

[inline]

Advance to next Plan Step, if it is now time.

Returns:

next acceleration to use (0.0 if plan finished).

Definition at line 78 of file model_brake.h.

void ActuatorPlan::reset

(

void

)

[inline]

Delete the current plan.

Definition at line 95 of file model_brake.h.

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Member Data Documentation

double ActuatorPlan::accel

acceleration to apply

Definition at line 102 of file model_brake.h.

const int ActuatorPlan::MAX_STEPS = 2 [static, private]

Definition at line 99 of file model_brake.h.

int ActuatorPlan::nsteps_ [private]

number of steps remaining

Definition at line 98 of file model_brake.h.

struct { ... } ActuatorPlan::steps_[MAX_STEPS] [private]

double ActuatorPlan::until

time when done

Definition at line 103 of file model_brake.h.

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

• model_brake.h