#include <moveCommand.h>

Inheritance diagram for RampCommand:

Public Member Functions
virtual double	getPos (double TimeElapsed)
	returns the planned position for TimeElapsed (seconds) More...

double	getPos ()

virtual double	getTotalTime ()
	returns the planned total time for the movement (in seconds) More...

virtual double	getVel (double TimeElapsed)
	returns the planned velocity for TimeElapsed (seconds) More...

double	getVel ()

virtual bool	inPhase1 ()

virtual bool	inPhase3 ()

virtual RampCommand &	operator= (const RampCommand &rc)

	RampCommand (double x0, double v0, double xtarget, double amax, double vmax)

	RampCommand (const RampCommand &rc)

virtual double	T1 ()
	Return the times of the different phases of the ramp move. More...

virtual double	T2 ()

virtual double	T3 ()

virtual	~RampCommand ()

Public Member Functions inherited from moveCommand
virtual bool	isActive ()
	returns true if the the end of the movement is not reached yet More...

	moveCommand ()

virtual double	pos ()
	returns the planned position at time of function call (desired position) More...

virtual void	start ()
	sets the starttime for the movement to the current time More...

virtual double	timeRemaining ()
	returns remaining time More...

virtual double	vel ()
	returns the planned velocity at time of function call (desired velocitys) More...

virtual	~moveCommand ()

Static Public Member Functions
static void	calculateAV (double x0, double v0, double xtarget, double time, double T3, double amax, double vmax, double &a, double &v)
	Calculate the necessary a and v of a rampmove, so that the move will take the desired time. More...

Private Attributes
double	m_a1

double	m_a3

double	m_amax

RampCommand *	m_nachumkehr

double	m_T1

double	m_T2

double	m_T3

bool	m_umkehr

double	m_v0

double	m_v2

double	m_vmax

double	m_x0

double	m_xtarget

Static Private Attributes
static std::ofstream	debug

Additional Inherited Members
Protected Attributes inherited from moveCommand
TimeStamp	m_now

TimeStamp	m_timeStarted

Detailed Description

Definition at line 104 of file moveCommand.h.

Constructor & Destructor Documentation

RampCommand::RampCommand	(	double	x0,
		double	v0,
		double	xtarget,
		double	amax,
		double	vmax
	)

Just absolute values should be used. The direction will be set later on by using Delta

Set up the movement phases:

Current velocity should have same sign as desired velocity. (No reversion possible.)

Absolute value of current velocity is less than value of desired velocity.

Calculate critical deltas:

delta = 0

Absolute value of current velocity is greater than value of desired velocity.

Calculate critical values:

v0 / root(2)

(fabs(m_vmax) < fabs(vstern))

if (m_v0 * m_vmax >= 0) If sign of current velocity different to sign of desired velocity -> reversion needed

Go on till 0. By reaching 0 calling new RampCommand with v0 = 0

Done. Contructor finished, motion defined.

Definition at line 26 of file moveCommand.cpp.

RampCommand::RampCommand ( const RampCommand & rc )

Attention of recursion! In this implementation we make sure that m_nachumkehr RampCommand has no antoher m_nachumkehr ( (*m_nachumkehr).m_nachumkehr=NULL ). After possible changes please make sure there is not any longer infinite recursion.

Definition at line 149 of file moveCommand.cpp.

virtual RampCommand::~RampCommand ( )

inlinevirtual

Definition at line 112 of file moveCommand.h.

Member Function Documentation

void RampCommand::calculateAV	(	double	x0,
		double	v0,
		double	xtarget,
		double	time,
		double	T3,
		double	amax,
		double	vmax,
		double &	acc,
		double &	vel
	)

static

Calculate the necessary a and v of a rampmove, so that the move will take the desired time.

If possible, the deceleration phase should take the time T3, so that it can be made equal for all joints

Do not trust sign, set correct sign by have a look on delta

ToDo: Noch Fehlerhaft! Wurzelterme < 0 etc, richtig machen!

v by calculation formula (I). a,b,c for quadratic formula:

Quadratic formula:

Now calculate a with formula (1):

fabs(delta) > d2s verhindert, prevent root of negative values!

v by calculation formula (II). a,b,c for quadratic formula:

Quadratic formula:

Now calculate a with formula (1):

ToDo: Check if needed

Dieser Fall bei bestimmten (relativ biedrigen) Deltas in Kombination mit relativ hohen v0s auf, und für diesen Fall kann ich keine Formel finden, für die Abbremsphase = T3 !!! Ich finde es komisch, dass hier die Formel oben versagt (Wurzelterm < 0) und die untere falsche Ergebnisse liefert... Lösung, bei der Abbremsphase != T3: out << " Fall 3:\n";

ToDo This special case is not solved yet. Occures with great values of v0 "Wrong Solution" (Joint arrives to soon):

Dieser Spezialfall ist noch nicht gelöst, tritt bei eher größeren v0 auf "Falsche Lösung" (Joint kommt zu früh an):

ToDo Oversteer. It can't be ensure to have a slowing-down process while T3. (System of equations would be overdetermined.)

Übersteuern, hier kann nicht gewährleistet werden, dass Abbremsphase Während T3 (Gleichungssystem wäre überbestimmt). out << " Fall 4\n";

Root does not make any problems.

Root reports some issues, temporary solution:

out << " Fall 5\n"; This is not "clean" yet ... temporary, incorrect solution

out << " Error in RampCommand::CalculateAV! time T3 is negative!\n";

out << " acc: " << acc << ",\tvel: " << vel << "\n"; out << "RampCommand::calculateAV ENDE\n"; debug.flush();

Definition at line 296 of file moveCommand.cpp.

double RampCommand::getPos ( double TimeElapsed )

virtual

returns the planned position for TimeElapsed (seconds)

Returns the planned position for TimeElapsed (seconds)

Motion done. Targetposition reached.

Implements moveCommand.

Definition at line 207 of file moveCommand.cpp.

double RampCommand::getPos ( )

inline

Definition at line 122 of file moveCommand.h.

double RampCommand::getTotalTime ( )

virtual

returns the planned total time for the movement (in seconds)

Returns the planned total time for the movement in seconds.

Implements moveCommand.

Definition at line 282 of file moveCommand.cpp.

double RampCommand::getVel ( double TimeElapsed )

virtual

returns the planned velocity for TimeElapsed (seconds)

returns the planned velocity for TimeElapsed

Motion done. Motor inactive.

Implements moveCommand.

Definition at line 246 of file moveCommand.cpp.

double RampCommand::getVel ( )

inline

Definition at line 131 of file moveCommand.h.

virtual bool RampCommand::inPhase1 ( )

inlinevirtual

Definition at line 141 of file moveCommand.h.

virtual bool RampCommand::inPhase3 ( )

inlinevirtual

Definition at line 146 of file moveCommand.h.

RampCommand & RampCommand::operator= ( const RampCommand & rc )

virtual

Attention of recursion! In this implementation we make sure that m_nachumkehr RampCommand has no antoher m_nachumkehr ( (*m_nachumkehr).m_nachumkehr=NULL ). After possible changes please make sure there is not any longer infinite recursion.

Definition at line 174 of file moveCommand.cpp.

virtual double RampCommand::T1 ( )

inlinevirtual

Return the times of the different phases of the ramp move.

Definition at line 155 of file moveCommand.h.

virtual double RampCommand::T2 ( )

inlinevirtual

Definition at line 159 of file moveCommand.h.

virtual double RampCommand::T3 ( )

inlinevirtual

Definition at line 163 of file moveCommand.h.

Member Data Documentation

std::ofstream RampCommand::debug

staticprivate

Definition at line 175 of file moveCommand.h.

double RampCommand::m_a1

private

Definition at line 182 of file moveCommand.h.

double RampCommand::m_a3

private

Definition at line 182 of file moveCommand.h.

double RampCommand::m_amax

private

Definition at line 179 of file moveCommand.h.

RampCommand* RampCommand::m_nachumkehr

private

Definition at line 184 of file moveCommand.h.

double RampCommand::m_T1

private

Definition at line 181 of file moveCommand.h.

double RampCommand::m_T2

private

Definition at line 181 of file moveCommand.h.

double RampCommand::m_T3

private

Definition at line 181 of file moveCommand.h.

bool RampCommand::m_umkehr

private

Definition at line 183 of file moveCommand.h.

double RampCommand::m_v0

private

Definition at line 177 of file moveCommand.h.

double RampCommand::m_v2

private

Definition at line 182 of file moveCommand.h.

double RampCommand::m_vmax

private

Definition at line 179 of file moveCommand.h.

double RampCommand::m_x0

private

Definition at line 177 of file moveCommand.h.

double RampCommand::m_xtarget

private

Definition at line 178 of file moveCommand.h.

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

Public Member Functions

Static Public Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation