Program Listing for File motion_generator.hpp

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// Copyright 2023 ROS-Industrial
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef __MOTIONGENERATOR_H__
#define __MOTIONGENERATOR_H__

// Copyright (c) 2016 AerDronix, https://aerdronix.wordpress.com/
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include <chrono>
class MotionGenerator
{
public:
  MotionGenerator(double aMaxVel, double aMaxAcc, double aInitPos);

  void init();

  double update(double aPosRef);
  double getVelocity();
  double getAcceleration();

  bool getFinished();
  void setMaxVelocity(double aMaxVel);
  void setMaxAcceleration(double aMaxAcc);
  void setInitPosition(double aInitPos);
  void reset();

private:
  void calculateTrapezoidalProfile(double);
  short int sign(double aVal);

  double maxVel;
  double maxAcc;
  double initPos;
  double pos;
  double vel;
  double acc;
  double oldPos;
  double oldPosRef;
  double oldVel;

  double dBrk;
  double dAcc;
  double dVel;
  double dDec;
  double dTot;

  double tBrk;
  double tAcc;
  double tVel;
  double tDec;

  double velSt;

  std::chrono::time_point<std::chrono::high_resolution_clock> oldTime;
  std::chrono::time_point<std::chrono::high_resolution_clock> lastTime;
  std::chrono::duration<double> deltaTime;

  short int signM;  // 1 = positive change, -1 = negative change
  bool shape;       // true = trapezoidal, false = triangular

  bool isFinished;
};
#endif