Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm. More...

#include <RMLVelocityInputParameters.h>

Inheritance diagram for RMLVelocityInputParameters:

Public Member Functions
bool	CheckForValidity (void) const
	Checks the input parameters for validity. More...

void	Echo (FILE *FileHandler=stdout) const
	Prints the complete set of input parameters to *FileHandler. More...

RMLVelocityInputParameters &	operator= (const RMLVelocityInputParameters &IP)
	Copy operator. More...

	RMLVelocityInputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLVelocityInputParameters. More...

	RMLVelocityInputParameters (const RMLVelocityInputParameters &IP)
	Copy constructor of class RMLVelocityInputParameters. More...

	~RMLVelocityInputParameters (void)
	Destructor of class RMLVelocityInputParameters. More...

Public Member Functions inherited from RMLInputParameters
void	GetCurrentAccelerationVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current acceleration vector $\vec{A}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentAccelerationVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current acceleration vector $\vec{A}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentAccelerationVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current acceleration vector $\vec{A}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentAccelerationVectorElement (const unsigned int &Index) const
	Returns one single element of the current acceleration vector $\vec{A}_{i}$ . More...

void	GetCurrentPositionVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current position vector $\vec{P}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentPositionVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current position vector $\vec{P}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentPositionVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current selection vector $\vec{P}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentPositionVectorElement (const unsigned int &Index) const
	Returns one single element of the current selection vector $\vec{P}_{i}$ . More...

void	GetCurrentVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current velocity vector $\vec{V}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current velocity vector $\vec{V}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current velocity vector $\vec{V}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the current velocity vector $\vec{V}_{i}$ . More...

void	GetMaxAccelerationVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetMaxAccelerationVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the memory pointed to by `InputVector`. More...

void	GetMaxAccelerationVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the memory pointed to by `InputValue`. More...

double	GetMaxAccelerationVectorElement (const unsigned int &Index) const
	Returns one single element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

void	GetMaxJerkVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetMaxJerkVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the memory pointed to by `InputVector`. More...

void	GetMaxJerkVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the memory pointed to by `InputValue`. More...

double	GetMaxJerkVectorElement (const unsigned int &Index) const
	Returns one single element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

double	GetMinimumSynchronizationTime (void) const
	Returns the optional parameter for the desired execution time. More...

unsigned int	GetNumberOfDOFs (void) const
	Returns the number of degrees of freedom. More...

void	GetSelectionVector (RMLBoolVector *InputVector) const
	Copies the contents of the `RMLBoolVector` object containing the current position vector $\vec{S}_{i}$ to the `RMLBoolVector` object referred to by `InputVector`. More...

void	GetSelectionVector (bool *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `bool` values representing the current position vector $\vec{S}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetSelectionVectorElement (bool *InputValue, const unsigned int &Index) const
	Copies one element of the current selection vector $\vec{S}_{i}$ to the memory pointed to by `InputValue`. More...

bool	GetSelectionVectorElement (const unsigned int &Index) const
	Returns one single element of the current selection vector $\vec{S}_{i}$ . More...

void	GetTargetVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetTargetVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the memory pointed to by `InputVector`. More...

void	GetTargetVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the memory pointed to by `InputValue`. More...

double	GetTargetVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

RMLInputParameters &	operator= (const RMLInputParameters &IP)
	Copy operator. More...

	RMLInputParameters (const RMLInputParameters &IP)
	Copy constructor of class RMLInputParameters. More...

void	SetCurrentAccelerationVector (const RMLDoubleVector &InputVector)
	Sets the current acceleration vector $\vec{A}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentAccelerationVector (const double *InputVector)
	Sets the current acceleration vector $\vec{A}_{i}$ by using a native C `double` array. More...

void	SetCurrentAccelerationVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current acceleration vector $\vec{A}_{i}$ . More...

void	SetCurrentPositionVector (const RMLDoubleVector &InputVector)
	Sets the current selection vector $\vec{P}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentPositionVector (const double *InputVector)
	Sets the current selection vector $\vec{P}_{i}$ by using a native C `double` array. More...

void	SetCurrentPositionVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current selection vector $\vec{P}_{i}$ . More...

void	SetCurrentVelocityVector (const RMLDoubleVector &InputVector)
	Sets the current velocity vector $\vec{V}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentVelocityVector (const double *InputVector)
	Sets the current velocity vector $\vec{V}_{i}$ by using a native C `double` array. More...

void	SetCurrentVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current velocity vector $\vec{V}_{i}$ . More...

void	SetMaxAccelerationVector (const RMLDoubleVector &InputVector)
	Sets the maximum acceleration vector $\vec{A}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetMaxAccelerationVector (const double *InputVector)
	Sets the maximum acceleration vector $\vec{A}_{i}^{\,max}$ by using a native C `double` array. More...

void	SetMaxAccelerationVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

void	SetMaxJerkVector (const RMLDoubleVector &InputVector)
	Sets the maximum jerk vector $\vec{J}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetMaxJerkVector (const double *InputVector)
	Sets the maximum jerk vector $\vec{J}_{i}^{\,max}$ by using a native C `double` array. More...

void	SetMaxJerkVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

void	SetMinimumSynchronizationTime (double Time)
	Sets the optional parameter for the desired execution time. More...

void	SetSelectionVector (const RMLBoolVector &InputVector)
	Sets the current selection vector $\vec{S}_{i}$ by using the an RMLBoolVector object. More...

void	SetSelectionVector (const bool *InputVector)
	Sets the current selection vector $\vec{S}_{i}$ by using a native C++ `bool` array. More...

void	SetSelectionVectorElement (const bool &InputValue, const unsigned int &Index)
	Sets one element of the current selection vector $\vec{S}_{i}$ . More...

void	SetTargetVelocityVector (const RMLDoubleVector &InputVector)
	Sets the target velocity vector $\vec{V}_{i}^{\,trgt}$ by using the an `RMLDoubleVector` object. More...

void	SetTargetVelocityVector (const double *InputVector)
	Sets the target velocity vector $\vec{V}_{i}^{\,trgt}$ by using a native C `double` array. More...

void	SetTargetVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

	~RMLInputParameters (void)
	Destructor of class RMLInputParameters. More...

Protected Types
enum	{ MAXIMUM_MAGNITUDE_RANGE = 10 }

Additional Inherited Members
Public Attributes inherited from RMLInputParameters
RMLDoubleVector *	CurrentAccelerationVector
	A pointer to the current acceleration vector $\vec{A}_{i}$ . More...

RMLDoubleVector *	CurrentPositionVector
	A pointer to the current position vector $\vec{P}_{i}$ . More...

RMLDoubleVector *	CurrentVelocityVector
	A pointer to the current velocity vector $\vec{V}_{i}$ . More...

RMLDoubleVector *	MaxAccelerationVector
	A pointer to the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

RMLDoubleVector *	MaxJerkVector
	A pointer to the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

double	MinimumSynchronizationTime
	Minimum trajectory execution time in seconds specified by the user (optional input parameter) More...

unsigned int	NumberOfDOFs
	The number of degrees of freedom . More...

RMLBoolVector *	SelectionVector
	A pointer to the selection vector $\vec{S}_{i}$ . More...

RMLDoubleVector *	TargetVelocityVector
	A pointer to the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

Protected Member Functions inherited from RMLInputParameters
void	Echo (FILE *FileHandler=stdout) const
	Prints the complete set of input parameters to *FileHandler. More...

	RMLInputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLInputParameters. More...

Detailed Description

Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm.

The class RMLVelocityInputParameters is derived from the class RMLInputParameters and constitutes a part of the interface for the velocity-based On-Line Trajectory Generation algorithm.

A detailed description can be found at page_InputValues.

See also: ReflexxesAPI; RMLInputParameters; RMLPositionInputParameters; RMLVelocityOutputParameters; page_InputValues

Definition at line 77 of file RMLVelocityInputParameters.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
MAXIMUM_MAGNITUDE_RANGE	Specifies the maximum allowed range for the orders of magnitude of the input values.

Definition at line 256 of file RMLVelocityInputParameters.h.

Constructor & Destructor Documentation

RMLVelocityInputParameters::RMLVelocityInputParameters ( const unsigned int DegreesOfFreedom )

inline

Constructor of class RMLVelocityInputParameters.

Warning: The constructor is not real-time capable as heap memory has to be allocated.

Parameters

DegreesOfFreedom Specifies the number of degrees of freedom

Definition at line 95 of file RMLVelocityInputParameters.h.

RMLVelocityInputParameters::RMLVelocityInputParameters ( const RMLVelocityInputParameters & IP )

inline

Copy constructor of class RMLVelocityInputParameters.

Warning: The constructor is not real-time capable as heap memory has to be allocated.

Parameters

IP	Object to be copied

Definition at line 113 of file RMLVelocityInputParameters.h.

RMLVelocityInputParameters::~RMLVelocityInputParameters ( void )

inline

Destructor of class RMLVelocityInputParameters.

Definition at line 124 of file RMLVelocityInputParameters.h.

Member Function Documentation

bool RMLVelocityInputParameters::CheckForValidity ( void ) const

inline

Checks the input parameters for validity.

This is an important method to ensure numerical robustness of the On-Line Trajectory Generation algorithm. Only if the result of this method is true, a correct computation of output values can be obtained. If the result is false, the On-Line Trajectory Generation Algorithm will try compute correct output values, and in many cases, this is possible, but it is not guaranteed. All input values have to be within a proper order of magnitude (cf. RMLPositionInputParameters::MAXIMUM_MAGNITUDE_RANGE), the kinematic motion constraints, that is, the maximum values for velocity, and acceleration, have to be positive, and the target velocity must not be greater than the maximum velocity.

Returns

true, if all requirements for input parameters are met
false, otherwise

Note

In order to achieve an optimal performance of the On-Line Trajectory Generation algorithm, this method is only executed in case of an error with the purpose to specify the error code of the result value (cf. ReflexxesAPI::RMLResultValue). As a consequence, there is no loss CPU time inside of the Reflexxes Motion Library, such that also the worst-case execution time is not negatively influenced. Please consider this method just as an additional possibility for the user application to check whether the current input values are valid for the On-Line Trajectory Generation algorithm.
If the On-Line Trajectory Generation algorithm is fed with invalid input parameters, it will try to compute correct output values. This works for many cases, and correct output values can be provided. If no correct output values can be calculated, it is guaranteed that valid output are provided in any case (cf. page_ErrorHandling).