Data structure containing flags to parameterize the execution of the position-based On-Line Trajectory Generation algorithm. More...

#include <RMLPositionFlags.h>

Inheritance diagram for RMLPositionFlags:

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Public Types
enum	FinalMotionBehaviorEnum { KEEP_TARGET_VELOCITY = 0, RECOMPUTE_TRAJECTORY = 1 }
	Enumeration whose values specify the behavior after the final state of motion is reached. More...

Public Types inherited from RMLFlags
enum	SyncBehaviorEnum { PHASE_SYNCHRONIZATION_IF_POSSIBLE = 0, ONLY_TIME_SYNCHRONIZATION = 1, ONLY_PHASE_SYNCHRONIZATION = 2, NO_SYNCHRONIZATION = 3 }
	Enumeration whose values specify the synchronization method of the On-Line Trajectory Generation algorithm. More...

Public Member Functions
bool	operator!= (const RMLPositionFlags &Flags) const
	Unequal operator. More...

bool	operator== (const RMLPositionFlags &Flags) const
	Equal operator. More...

	RMLPositionFlags (void)
	Constructor of the class. More...

	~RMLPositionFlags (void)
	Destructor of the class RMLPositionFlags. More...

Public Member Functions inherited from RMLFlags
bool	operator!= (const RMLFlags &Flags) const
	Unequal operator. More...

bool	operator== (const RMLFlags &Flags) const
	Equal operator. More...

	~RMLFlags (void)
	Destructor of the class RMLFlags. More...

Public Attributes
int	BehaviorAfterFinalStateOfMotionIsReached
	This flag defines the behavior for the time after the final state of motion was reached. More...

bool	KeepCurrentVelocityInCaseOfFallbackStrategy
	If true, RMLPositionInputParameters::AlternativeTargetVelocityVector will be used in TypeIVRMLPosition::FallBackStrategy() More...

Public Attributes inherited from RMLFlags
bool	EnableTheCalculationOfTheExtremumMotionStates
	A flag to enable or disable the calculation of the extremum states of motion of the currently calculated trajectory. More...

unsigned char	SynchronizationBehavior
	This value specifies the desired synchronization behavior. More...

Additional Inherited Members
Protected Member Functions inherited from RMLFlags
	RMLFlags (void)
	Constructor of the class. More...

Detailed Description

Data structure containing flags to parameterize the execution of the position-based On-Line Trajectory Generation algorithm.

See also: RMLFlags; RMLVelocityFlags

Definition at line 64 of file RMLPositionFlags.h.

Member Enumeration Documentation

enum RMLPositionFlags::FinalMotionBehaviorEnum

Enumeration whose values specify the behavior after the final state of motion is reached.

See also: BehaviorAfterFinalStateOfMotionIsReached

Enumerator
KEEP_TARGET_VELOCITY	The desired velocity of the target state of motion will be kept at zero acceleration.
RECOMPUTE_TRAJECTORY	After the final state of motion is reached, a new trajectory will be computed, such that the desired state of motion will be reached again (and again, and again, etc.).

Definition at line 145 of file RMLPositionFlags.h.

Constructor & Destructor Documentation

RMLPositionFlags::RMLPositionFlags ( void )

inline

Constructor of the class.

Sets the default values:

Synchronization behavior: phase-synchronization if possible (RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE)
Behavior after the target state of motion is reached: keep target velocity (RMLPositionFlags::KEEP_TARGET_VELOCITY)
Calculation of extremum motion states enabled
In case the fall back strategy becomes active: velocity to predefined values (default: zero)

Definition at line 82 of file RMLPositionFlags.h.

RMLPositionFlags::~RMLPositionFlags ( void )

inline

Destructor of the class RMLPositionFlags.

Definition at line 97 of file RMLPositionFlags.h.

Member Function Documentation

bool RMLPositionFlags::operator!= ( const RMLPositionFlags & Flags ) const

inline

Unequal operator.

Returns: false if all attributes of both objects are equal; true otherwise

Definition at line 130 of file RMLPositionFlags.h.

bool RMLPositionFlags::operator== ( const RMLPositionFlags & Flags ) const

inline

Equal operator.

Returns: true if all attributes of both objects are equal; false otherwise

Definition at line 111 of file RMLPositionFlags.h.

Member Data Documentation

int RMLPositionFlags::BehaviorAfterFinalStateOfMotionIsReached

This flag defines the behavior for the time after the final state of motion was reached.

Two values are possible:

Note: If the desired target velocity vector is zero, both values will lead to the same behavior.

See also: FinalMotionBehaviorEnum; page_FinalStateReachedBehavior

Definition at line 179 of file RMLPositionFlags.h.

bool RMLPositionFlags::KeepCurrentVelocityInCaseOfFallbackStrategy

If true, RMLPositionInputParameters::AlternativeTargetVelocityVector will be used in TypeIVRMLPosition::FallBackStrategy()

In case, the second safety layer becomes activated by calling TypeIVRMLPosition::FallBackStrategy(), this flag can optionally be used to set the current velocity vector $\vec{V}_i$ as the alternative target velocity vector for the velocity-based On-Line Trajectory Generation algorithm.

Note: By default, this flag is set to false, and in most cases, is not necessary to change this. Depending on the application, it may be reasonable to keep the current velocity in case of an error.

See also: RMLPositionInputParameters::AlternativeTargetVelocityVector; page_ErrorHandling

Definition at line 205 of file RMLPositionFlags.h.

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

RMLPositionFlags.h

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation