TypeIIRMLVelocity.h
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47 
48 
49 #ifndef __TypeIIRMLVelocity__
50 #define __TypeIIRMLVelocity__
51 
52 
53 #include "RMLVelocityInputParameters.h"
54 #include "RMLVelocityOutputParameters.h"
55 #include "RMLVector.h"
56 #include "TypeIIRMLPolynomial.h"
57 #include "RMLVelocityFlags.h"
58 
59 
60 
61 using namespace TypeIIRMLMath;
62 
63 
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103 class TypeIIRMLVelocity
104 {
105 public:
106 
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127  TypeIIRMLVelocity( const unsigned int &DegreesOfFreedom
128  , const double &CycleTimeInSeconds);
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146  TypeIIRMLVelocity(const TypeIIRMLVelocity &TypeIIRMLObject);
147 
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155  ~TypeIIRMLVelocity(void);
156 
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167  TypeIIRMLVelocity &operator = (const TypeIIRMLVelocity &TypeIIRMLObject);
168 
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247  int GetNextStateOfMotion( const RMLVelocityInputParameters &InputValues
248  , RMLVelocityOutputParameters *OutputValues
249  , const RMLVelocityFlags &Flags);
250 
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308  int GetNextStateOfMotionAtTime( const double &TimeValueInSeconds
309  , RMLVelocityOutputParameters *OutputValues ) const;
310 
311 
312 protected:
313 
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321  enum FunctionResults
322  {
324  FUNC_SUCCESS = false,
326  FUNC_ERROR_OCCURRED = true
327  };
328 
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383  void FallBackStrategy( const RMLVelocityInputParameters &InputValues
384  , RMLVelocityOutputParameters *OutputValues );
385 
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409  void CalculateExecutionTimes(void);
410 
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433  void ComputeTrajectoryParameters(void);
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457  void ComputePhaseSynchronizationParameters(void);
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475  void ComputeTimeSynchronizedTrajectoryParameters(void);
476 
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515  int ComputeAndSetOutputParameters( const double &TimeValueInSeconds
516  , RMLVelocityOutputParameters *OP ) const;
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564  bool IsPhaseSynchronizationPossible(void);
565 
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617  void CalculatePositionalExtrems( const double &TimeValueInSeconds
618  , RMLVelocityOutputParameters *OP ) const;
619 
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660  void SetPositionalExtremsToZero(RMLVelocityOutputParameters *OP) const;
661 
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690  void SetupPhaseSyncSelectionVector(void);
691 
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704  bool CurrentTrajectoryIsPhaseSynchronized;
705 
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717  bool CurrentTrajectoryIsNotSynchronized;
718 
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728  bool CalculatePositionalExtremsFlag;
729 
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740  int ReturnValue;
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751  unsigned int NumberOfDOFs;
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762  unsigned int DOFWithGreatestExecutionTime;
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773  double CycleTime;
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785  double SynchronizationTime;
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798  double InternalClockInSeconds;
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816  RMLVelocityFlags OldFlags;
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832  RMLBoolVector *PhaseSyncSelectionVector;
833 
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844  RMLDoubleVector *ExecutionTimes;
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857  RMLDoubleVector *PhaseSynchronizationReferenceVector;
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870  RMLDoubleVector *PhaseSynchronizationCurrentVelocityVector;
871 
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883  RMLDoubleVector *PhaseSynchronizationTargetVelocityVector;
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897  RMLDoubleVector *PhaseSynchronizationMaxAccelerationVector;
898 
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916  RMLVelocityInputParameters *OldInputParameters;
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929  RMLVelocityInputParameters *CurrentInputParameters;
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946  RMLVelocityOutputParameters *OutputParameters;
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948 
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962  MotionPolynomials *Polynomials;
963 
964 
965 }; // class TypeIIRMLVelocity
966 
967 
968 #endif
969 
970 
RMLVector.h
Header file for the dynamic vector class used for the Reflexxes Motion Libraries. ...
TypeIIRMLVelocity::InternalClockInSeconds
double InternalClockInSeconds
In order to prevent from recalculating the trajectory within every control cycle and to safe CPU time...
Definition: TypeIIRMLVelocity.h:798
TypeIIRMLVelocity::PhaseSynchronizationTargetVelocityVector
RMLDoubleVector * PhaseSynchronizationTargetVelocityVector
Target velocity vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLVelocity.h:883
RMLVelocityFlags
Data structure containing flags to parameterize the execution of the velocity-based On-Line Trajector...
Definition: RMLVelocityFlags.h:64
TypeIIRMLVelocity::SynchronizationTime
double SynchronizationTime
If the trajectory is time- or phase-synchronized, this attribute will contain the synchronization tim...
Definition: TypeIIRMLVelocity.h:785
TypeIIRMLVelocity::OldFlags
RMLVelocityFlags OldFlags
In order to check, whether a new calculation has to be started, the input values have to be compared ...
Definition: TypeIIRMLVelocity.h:816
TypeIIRMLMath::MotionPolynomials
Three arrays of TypeIIRMLMath::TypeIIRMLPolynomial.
Definition: TypeIIRMLPolynomial.h:260
TypeIIRMLVelocity::CalculatePositionalExtremsFlag
bool CalculatePositionalExtremsFlag
Indicates, whether the positional extremes are to be calculated.
Definition: TypeIIRMLVelocity.h:728
TypeIIRMLVelocity::ExecutionTimes
RMLDoubleVector * ExecutionTimes
Vector of double values, each of which represents an execution time that is used internally.
Definition: TypeIIRMLVelocity.h:844
RMLVelocityInputParameters.h
Header file for the class RMLVelocityInputParameters.
RMLVelocityFlags.h
Header file for the class RMLVelocityFlags.
TypeIIRMLVelocity::PhaseSyncSelectionVector
RMLBoolVector * PhaseSyncSelectionVector
Boolean vector, which contains the modified selection vector that is based on the original selection ...
Definition: TypeIIRMLVelocity.h:832
TypeIIRMLPolynomial.h
Header file for the class TypeIIRMLMath::TypeIIRMLPolynomial and the struct TypeIIRMLMath::MotionPoly...
TypeIIRMLVelocity::CurrentInputParameters
RMLVelocityInputParameters * CurrentInputParameters
Pointer to an RMLVelocityInputParameters object. This object contains a complete set of input values ...
Definition: TypeIIRMLVelocity.h:929
TypeIIRMLVelocity::CycleTime
double CycleTime
Contains the cycle time in seconds.
Definition: TypeIIRMLVelocity.h:773
TypeIIRMLVelocity::CurrentTrajectoryIsPhaseSynchronized
bool CurrentTrajectoryIsPhaseSynchronized
Indicates, whether the current trajectory is phase-synchronized.
Definition: TypeIIRMLVelocity.h:704
RMLVelocityOutputParameters.h
Header file for the class RMLVelocityOutputParameters.
RMLVelocityOutputParameters
Class for the output parameters of the velocity-based On-Line Trajectory Generation algorithm...
Definition: RMLVelocityOutputParameters.h:73
TypeIIRMLVelocity::PhaseSynchronizationMaxAccelerationVector
RMLDoubleVector * PhaseSynchronizationMaxAccelerationVector
Contains the adapted maximum acceleration vector for phase-synchronized trajectories.
Definition: TypeIIRMLVelocity.h:897
TypeIIRMLVelocity::OutputParameters
RMLVelocityOutputParameters * OutputParameters
Pointer to an RMLVelocityOutputParameters object. This object contains the output parameters of the m...
Definition: TypeIIRMLVelocity.h:946
TypeIIRMLVelocity::PhaseSynchronizationCurrentVelocityVector
RMLDoubleVector * PhaseSynchronizationCurrentVelocityVector
Current velocity vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLVelocity.h:870
TypeIIRMLVelocity::PhaseSynchronizationReferenceVector
RMLDoubleVector * PhaseSynchronizationReferenceVector
Reference vector for phase-synchronized trajectories, with .
Definition: TypeIIRMLVelocity.h:857
TypeIIRMLVelocity::FunctionResults
FunctionResults
For class-internal use only: return values of boolean methods.
Definition: TypeIIRMLVelocity.h:321
TypeIIRMLVelocity::NumberOfDOFs
unsigned int NumberOfDOFs
The number of degrees of freedom .
Definition: TypeIIRMLVelocity.h:751
TypeIIRMLVelocity::DOFWithGreatestExecutionTime
unsigned int DOFWithGreatestExecutionTime
Index of the degree of freedom that requires the greatest execution time.
Definition: TypeIIRMLVelocity.h:762
TypeIIRMLVelocity::ReturnValue
int ReturnValue
Contains the return value of the method TypeIIRMLVelocity::GetNextStateOfMotion() ...
Definition: TypeIIRMLVelocity.h:740
RMLVelocityInputParameters
Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm...
Definition: RMLVelocityInputParameters.h:77
TypeIIRMLVelocity::CurrentTrajectoryIsNotSynchronized
bool CurrentTrajectoryIsNotSynchronized
Indicates, that the current trajectory is not synchronized.
Definition: TypeIIRMLVelocity.h:717
TypeIIRMLVelocity::Polynomials
MotionPolynomials * Polynomials
Pointer to an array of MotionPolynomials objects, which contains the actual trajectory ...
Definition: TypeIIRMLVelocity.h:962
RMLVector
This is a minimalistic dynamic vector class implementation used for the Reflexxes Motion Libraries...
Definition: RMLVector.h:77
TypeIIRMLVelocity::OldInputParameters
RMLVelocityInputParameters * OldInputParameters
Pointer to an RMLVelocityInputParameters object. In order to check, whether a new calculation has to ...
Definition: TypeIIRMLVelocity.h:916
TypeIIRMLVelocity
This class constitutes the user interface of velocity-based the Type II On-Line Trajectory Generation...
Definition: TypeIIRMLVelocity.h:103

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autogenerated on Sat Nov 21 2020 03:17:34