pilz::CartesianLimit Class Reference

Set os cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part. More...

#include <cartesian_limit.h>

Public Member Functions
	CartesianLimit ()
double	getMaxRotationalVelocity () const
	Return the maximal rotational velocity [rad/s], 0 if nothing was set. More...
double	getMaxTranslationalAcceleration () const
	Return the maximal translational acceleration [m/s^2], 0 if nothing was set. More...
double	getMaxTranslationalDeceleration () const
	Return the maximal translational deceleration [m/s^2], 0 if nothing was set. More...
double	getMaxTranslationalVelocity () const
	Return the maximal translational velocity [m/s], 0 if nothing was set. More...
bool	hasMaxRotationalVelocity () const
	Check if rotational velocity limit is set. More...
bool	hasMaxTranslationalAcceleration () const
	Check if translational acceleration limit is set. More...
bool	hasMaxTranslationalDeceleration () const
	Check if translational deceleration limit is set. More...
bool	hasMaxTranslationalVelocity () const
	Check if translational velocity limit is set. More...
void	setMaxRotationalVelocity (double max_rot_vel)
	Set the maximum rotational velocity. More...
void	setMaxTranslationalAcceleration (double max_trans_acc)
	Set the maximum translational acceleration. More...
void	setMaxTranslationalDeceleration (double max_trans_dec)
	Set the maximum translational deceleration. More...
void	setMaxTranslationalVelocity (double max_trans_vel)
	Set the maximal translational velocity. More...

Private Attributes
bool	has_max_rot_vel_
	Flag if a maximum rotational velocity was set. More...
bool	has_max_trans_acc_
	Flag if a maximum translational acceleration was set. More...
bool	has_max_trans_dec_
	Flag if a maximum translational deceleration was set. More...
bool	has_max_trans_vel_
	Flag if a maximum translational velocity was set. More...
double	max_rot_vel_
	Maximum rotational velocity [rad/s]. More...
double	max_trans_acc_
	Maximum translational acceleration [m/s^2]. More...
double	max_trans_dec_
	Maximum translational deceleration, always <=0 [m/s^2]. More...
double	max_trans_vel_
	Maximum translational velocity [m/s]. More...

Detailed Description

Set os cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part.

Definition at line 27 of file cartesian_limit.h.

Constructor & Destructor Documentation

pilz::CartesianLimit::CartesianLimit

(

)

Definition at line 20 of file cartesian_limit.cpp.

Member Function Documentation

double pilz::CartesianLimit::getMaxRotationalVelocity

(

)

const

Return the maximal rotational velocity [rad/s], 0 if nothing was set.

Returns

maximal rotational velocity, 0 if nothing was set

Definition at line 100 of file cartesian_limit.cpp.

double pilz::CartesianLimit::getMaxTranslationalAcceleration

(

)

const

Return the maximal translational acceleration [m/s^2], 0 if nothing was set.

Returns

maximal translational acceleration, 0 if nothing was set

Definition at line 64 of file cartesian_limit.cpp.

double pilz::CartesianLimit::getMaxTranslationalDeceleration

(

)

const

Return the maximal translational deceleration [m/s^2], 0 if nothing was set.

Returns

maximal translational deceleration, 0 if nothing was set, always <=0 [m/s^2]

Definition at line 82 of file cartesian_limit.cpp.

double pilz::CartesianLimit::getMaxTranslationalVelocity

(

)

const

Return the maximal translational velocity [m/s], 0 if nothing was set.

Returns

maximal translational velocity, 0 if nothing was set

Definition at line 46 of file cartesian_limit.cpp.

bool pilz::CartesianLimit::hasMaxRotationalVelocity

(

)

const

Check if rotational velocity limit is set.

Returns

True if limit was set false otherwise

Definition at line 89 of file cartesian_limit.cpp.

bool pilz::CartesianLimit::hasMaxTranslationalAcceleration

(

)

const

Check if translational acceleration limit is set.

Returns

True if limit was set false otherwise

Definition at line 53 of file cartesian_limit.cpp.

bool pilz::CartesianLimit::hasMaxTranslationalDeceleration

(

)

const

Check if translational deceleration limit is set.

Returns

True if limit was set false otherwise

Definition at line 71 of file cartesian_limit.cpp.

bool pilz::CartesianLimit::hasMaxTranslationalVelocity

(

)

const

Check if translational velocity limit is set.

Returns

True if limit was set false otherwise

Definition at line 35 of file cartesian_limit.cpp.

void pilz::CartesianLimit::setMaxRotationalVelocity

(

double

max_rot_vel

)

Set the maximum rotational velocity.

Parameters

Maximum

rotational velocity [rad/s]

Definition at line 94 of file cartesian_limit.cpp.

void pilz::CartesianLimit::setMaxTranslationalAcceleration

(

double

max_trans_acc

)

Set the maximum translational acceleration.

Parameters

Maximum

translational acceleration [m/s^2]

Definition at line 58 of file cartesian_limit.cpp.

void pilz::CartesianLimit::setMaxTranslationalDeceleration

(

double

max_trans_dec

)

Set the maximum translational deceleration.

Parameters

Maximum

translational deceleration, always <=0 [m/s^2]

Definition at line 76 of file cartesian_limit.cpp.

void pilz::CartesianLimit::setMaxTranslationalVelocity

(

double

max_trans_vel

)

Set the maximal translational velocity.

Parameters

Maximum

translational velocity [m/s]

Definition at line 40 of file cartesian_limit.cpp.

Member Data Documentation

bool pilz::CartesianLimit::has_max_rot_vel_

private

Flag if a maximum rotational velocity was set.

Definition at line 132 of file cartesian_limit.h.

bool pilz::CartesianLimit::has_max_trans_acc_

private

Flag if a maximum translational acceleration was set.

Definition at line 120 of file cartesian_limit.h.

bool pilz::CartesianLimit::has_max_trans_dec_

private

Flag if a maximum translational deceleration was set.

Definition at line 126 of file cartesian_limit.h.

bool pilz::CartesianLimit::has_max_trans_vel_

private

Flag if a maximum translational velocity was set.

Definition at line 114 of file cartesian_limit.h.

double pilz::CartesianLimit::max_rot_vel_

private

Maximum rotational velocity [rad/s].

Definition at line 135 of file cartesian_limit.h.

double pilz::CartesianLimit::max_trans_acc_

private

Maximum translational acceleration [m/s^2].

Definition at line 123 of file cartesian_limit.h.

double pilz::CartesianLimit::max_trans_dec_

private

Maximum translational deceleration, always <=0 [m/s^2].

Definition at line 129 of file cartesian_limit.h.

double pilz::CartesianLimit::max_trans_vel_

private

Maximum translational velocity [m/s].

Definition at line 117 of file cartesian_limit.h.

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

• cartesian_limit.h
• cartesian_limit.cpp