youbot::JointLimitMonitor Class Reference

It monitors the joint position and will decelerate and stop the joint if it is close the limits. More...

#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

Detailed Description

It monitors the joint position and will decelerate and stop the joint if it is close the limits.

Definition at line 65 of file JointLimitMonitor.hpp.

Constructor & Destructor Documentation

youbot::JointLimitMonitor::JointLimitMonitor	(	const YouBotJointStorage &	jointParameters,
		const quantity< angular_acceleration > &	jointAcceleration
	)

Definition at line 54 of file JointLimitMonitor.cpp.

youbot::JointLimitMonitor::~JointLimitMonitor ( )

virtual

Definition at line 67 of file JointLimitMonitor.cpp.

youbot::JointLimitMonitor::JointLimitMonitor

(

const JointLimitMonitor &

source

)

Definition at line 72 of file JointLimitMonitor.cpp.

Member Function Documentation

void youbot::JointLimitMonitor::calculateBrakingDistance ( const SlaveMessageInput &  messageInput )

private

Definition at line 197 of file JointLimitMonitor.cpp.

int youbot::JointLimitMonitor::calculateBrakingVelocity ( const int  actualPosition )

private

Definition at line 209 of file JointLimitMonitor.cpp.

double youbot::JointLimitMonitor::calculateDamping ( const int  actualPosition )

private

Definition at line 178 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsEncoderPosition

(

const signed int &

setpoint

)

Definition at line 114 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsPositionControl

(

const quantity< plane_angle > &

setpoint

)

Definition at line 85 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsProcessData	(	const SlaveMessageInput &	messageInput,
		SlaveMessageOutput &	messageOutput
	)

Definition at line 133 of file JointLimitMonitor.cpp.

JointLimitMonitor & youbot::JointLimitMonitor::operator=

(

const JointLimitMonitor &

source

)

Definition at line 78 of file JointLimitMonitor.cpp.

Member Data Documentation

double youbot::JointLimitMonitor::acceleration

private

Definition at line 91 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::actualVelocityRPS

private

Definition at line 99 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::bevorLowerLimit

private

Definition at line 93 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::bevorUpperLimit

private

Definition at line 95 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::brakingDistance

private

Definition at line 97 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::distanceToLimit

private

Definition at line 105 of file JointLimitMonitor.hpp.

bool youbot::JointLimitMonitor::isbraking

private

Definition at line 101 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::newVelocity

private

Definition at line 107 of file JointLimitMonitor.hpp.

YouBotJointStorage youbot::JointLimitMonitor::storage

private

Definition at line 89 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::velocityWhenReachedLimit

private

Definition at line 103 of file JointLimitMonitor.hpp.

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

• JointLimitMonitor.hpp
• JointLimitMonitor.cpp