Public Member Functions | Private Attributes | Static Private Attributes
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

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.

Constructor & Destructor Documentation


Definition at line 36 of file model_brake.h.

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.

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.

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.

Member Data Documentation

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]

time when done

Definition at line 103 of file model_brake.h.

The documentation for this class was generated from the following file:
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Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:43:23