controller::RefGenerator Class Reference

#include <ref_generator.h>

List of all members.

Public Member Functions
void	generate (double x_desired, double dt, bool force_stop)
	Generates the actual reference.
double	getAccelerationReference ()
double	getPositionReference ()
double	getVelocityReference ()
	RefGenerator (double current_x, double max_vel, double max_acc)
	Constructor for the RefGenerator.
void	setCurrentPosition (double x)
void	setCurrentVelocity (double vel)
	~RefGenerator ()
	Deconstructor for the RefGenerator.
Private Member Functions
int	signum (double a)
Private Attributes
double	acc_
double	max_acc_
double	max_vel_
double	pos_
double	vel_
Static Private Attributes
static const double	EPSILON = 1e-5

---

Detailed Description

Definition at line 53 of file ref_generator.h.

---

Constructor & Destructor Documentation

RefGenerator::RefGenerator	(	double	current_x,
		double	max_vel,
		double	max_acc
	)

Constructor for the RefGenerator.

pos_ is set to current_x vel_ to 0 acc_ to 0 max_vel_ to max_vel max_acc_ to mac_acc

Definition at line 54 of file ref_generator.cpp.

RefGenerator::~RefGenerator

(

)

Deconstructor for the RefGenerator.

Definition at line 58 of file ref_generator.cpp.

---

Member Function Documentation

void RefGenerator::generate	(	double	x_desired,
		double	dt,
		bool	force_stop
	)

Generates the actual reference.

Creates new values for pos_, vel_ and acc_ such that progress is made to the desired position, but no (velocity or acceleration) limit is exceeded.

Parameters:

x_desired	the desired position
dt	the time passed since the last generate
force_stop	whether to stop immediately or not

Definition at line 90 of file ref_generator.cpp.

double RefGenerator::getAccelerationReference

(

)

Returns:

the value of acc_

Definition at line 86 of file ref_generator.cpp.

double RefGenerator::getPositionReference

(

)

Returns:

the value of pos_

Definition at line 78 of file ref_generator.cpp.

double RefGenerator::getVelocityReference

(

)

Returns:

the value of vel_

Definition at line 82 of file ref_generator.cpp.

void RefGenerator::setCurrentPosition

(

double

x

)

Sets pos_ to x

Definition at line 70 of file ref_generator.cpp.

void RefGenerator::setCurrentVelocity

(

double

vel

)

Sets vel_ to vel

Definition at line 74 of file ref_generator.cpp.

int RefGenerator::signum

(

double

a

)

[private]

Returns:

the sign of a i.e. -1 or 1

Definition at line 61 of file ref_generator.cpp.

---

Member Data Documentation

double controller::RefGenerator::acc_ [private]

Definition at line 59 of file ref_generator.h.

const double controller::RefGenerator::EPSILON = 1e-5 [static, private]

Definition at line 64 of file ref_generator.h.

double controller::RefGenerator::max_acc_ [private]

Definition at line 62 of file ref_generator.h.

double controller::RefGenerator::max_vel_ [private]

Definition at line 61 of file ref_generator.h.

double controller::RefGenerator::pos_ [private]

Definition at line 57 of file ref_generator.h.

double controller::RefGenerator::vel_ [private]

Definition at line 58 of file ref_generator.h.

---

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

• ref_generator.h
• ref_generator.cpp