#include <JointLimitMonitor.hpp>
Public Member Functions | |
| void | checkLimitsEncoderPosition (const signed int &setpoint) |
| void | checkLimitsPositionControl (const quantity< plane_angle > &setpoint) |
| void | checkLimitsProcessData (const SlaveMessageInput &messageInput, SlaveMessageOutput &messageOutput) |
| JointLimitMonitor (const YouBotJointStorage &jointParameters, const quantity< angular_acceleration > &jointAcceleration) | |
| JointLimitMonitor (const JointLimitMonitor &source) | |
| JointLimitMonitor & | operator= (const JointLimitMonitor &source) |
| virtual | ~JointLimitMonitor () |
Private Member Functions | |
| void | calculateBrakingDistance (const SlaveMessageInput &messageInput) |
| int | calculateBrakingVelocity (const int actualPosition) |
| double | calculateDamping (const int actualPosition) |
Private Attributes | |
| double | acceleration |
| double | actualVelocityRPS |
| int | bevorLowerLimit |
| int | bevorUpperLimit |
| int | brakingDistance |
| double | distanceToLimit |
| bool | isbraking |
| double | newVelocity |
| YouBotJointStorage | storage |
| int | velocityWhenReachedLimit |
It monitors the joint position and will decelerate and stop the joint if it is close the limits
Definition at line 73 of file JointLimitMonitor.hpp.
| youbot::JointLimitMonitor::JointLimitMonitor | ( | const YouBotJointStorage & | jointParameters, |
| const quantity< angular_acceleration > & | jointAcceleration | ||
| ) |
Definition at line 55 of file JointLimitMonitor.cpp.
| youbot::JointLimitMonitor::~JointLimitMonitor | ( | ) | [virtual] |
Definition at line 68 of file JointLimitMonitor.cpp.
| youbot::JointLimitMonitor::JointLimitMonitor | ( | const JointLimitMonitor & | source | ) |
Definition at line 74 of file JointLimitMonitor.cpp.
| void youbot::JointLimitMonitor::calculateBrakingDistance | ( | const SlaveMessageInput & | messageInput | ) | [private] |
Definition at line 222 of file JointLimitMonitor.cpp.
| int youbot::JointLimitMonitor::calculateBrakingVelocity | ( | const int | actualPosition | ) | [private] |
Definition at line 237 of file JointLimitMonitor.cpp.
| double youbot::JointLimitMonitor::calculateDamping | ( | const int | actualPosition | ) | [private] |
Definition at line 198 of file JointLimitMonitor.cpp.
| void youbot::JointLimitMonitor::checkLimitsEncoderPosition | ( | const signed int & | setpoint | ) |
Definition at line 129 of file JointLimitMonitor.cpp.
| void youbot::JointLimitMonitor::checkLimitsPositionControl | ( | const quantity< plane_angle > & | setpoint | ) |
Definition at line 89 of file JointLimitMonitor.cpp.
| void youbot::JointLimitMonitor::checkLimitsProcessData | ( | const SlaveMessageInput & | messageInput, |
| SlaveMessageOutput & | messageOutput | ||
| ) |
Definition at line 146 of file JointLimitMonitor.cpp.
| JointLimitMonitor & youbot::JointLimitMonitor::operator= | ( | const JointLimitMonitor & | source | ) |
Definition at line 81 of file JointLimitMonitor.cpp.
double youbot::JointLimitMonitor::acceleration [private] |
Definition at line 99 of file JointLimitMonitor.hpp.
double youbot::JointLimitMonitor::actualVelocityRPS [private] |
Definition at line 107 of file JointLimitMonitor.hpp.
int youbot::JointLimitMonitor::bevorLowerLimit [private] |
Definition at line 101 of file JointLimitMonitor.hpp.
int youbot::JointLimitMonitor::bevorUpperLimit [private] |
Definition at line 103 of file JointLimitMonitor.hpp.
int youbot::JointLimitMonitor::brakingDistance [private] |
Definition at line 105 of file JointLimitMonitor.hpp.
double youbot::JointLimitMonitor::distanceToLimit [private] |
Definition at line 113 of file JointLimitMonitor.hpp.
bool youbot::JointLimitMonitor::isbraking [private] |
Definition at line 109 of file JointLimitMonitor.hpp.
double youbot::JointLimitMonitor::newVelocity [private] |
Definition at line 115 of file JointLimitMonitor.hpp.
Definition at line 97 of file JointLimitMonitor.hpp.
int youbot::JointLimitMonitor::velocityWhenReachedLimit [private] |
Definition at line 111 of file JointLimitMonitor.hpp.