FRICheck_legacy.hh
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00001 #define SAFETY_LEFT 0
00002 #define SAFETY_RIGHT 1
00003 
00004 
00005 
00006 class FRICheck_legacy
00007 {
00008 private:
00009   float vel_old_[7];
00010   float pos_[7];
00011 
00012   static const float lim_low[7];
00013   static const float lim_high[7];
00014   static const float lim_vel[7];
00015   static const float lim_acc[7];
00016 
00017   // legacy ///
00018   double *j5_angles;
00019   double *j6_min;
00020   double *j6_max;
00021   int length;
00023 
00024   double interpolate(double x, double x1, double y1, double x2, double y2);
00025   int find_index(float j5);
00026   double min_j6(float j5, int index);
00027   double max_j6(float j5, int index);
00028   void safety_check(float *vel, float *vel_old, float *pos, float rate);
00029 
00030 public:
00031   // legacy ///
00032   int safety_set_side(int side);
00034 
00035 
00036   FRICheck_legacy();
00038   void setPos(float* pos);
00039 
00041   float* pos() {return pos_;}
00042 
00044   void adjust(float *pos, float rate);
00045 };
00046 
00047 
00048 
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kuka_fri
Author(s): Ingo Kresse, Alexis Maldonado
autogenerated on Thu May 23 2013 05:28:18