Joint Trajectory Controller. More...

#include <JointTrajectoryController.hpp>

Public Member Functions
void	cancelCurrentTrajectory ()

void	getConfigurationParameter (double &PParameter, double &IParameter, double &DParameter, double &IClippingMax, double &IClippingMin)

void	getLastTargetPosition (JointAngleSetpoint &position)

void	getLastTargetVelocity (JointVelocitySetpoint &velocity)

bool	isTrajectoryControllerActive ()

	JointTrajectoryController ()

void	setConfigurationParameter (const double PParameter, const double IParameter, const double DParameter, const double IClippingMax, const double IClippingMin)

void	setEncoderTicksPerRound (const int &encoderTicks)

void	setGearRatio (const double &ratio)

void	setInverseMovementDirection (const bool invDirection)

void	setTrajectory (const JointTrajectory &input_traj)

bool	updateTrajectoryController (const SlaveMessageInput &actual, SlaveMessageOutput &velocity)

virtual	~JointTrajectoryController ()

Private Types
typedef std::vector< Segment >	SpecifiedTrajectory

Private Member Functions
void	generatePowers (const int n, const double x, double *powers)

void	getCubicSplineCoefficients (const double start_pos, const double start_vel, const double end_pos, const double end_vel, const double time, std::vector< double > &coefficients)

void	getQuinticSplineCoefficients (const double start_pos, const double start_vel, const double start_acc, const double end_pos, const double end_vel, const double end_acc, const double time, std::vector< double > &coefficients)

	JointTrajectoryController (const JointTrajectoryController &source)

JointTrajectoryController &	operator= (const JointTrajectoryController &source)

void	sampleQuinticSpline (const std::vector< double > &coefficients, const double time, double &position, double &velocity, double &acceleration)

void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, const double duration, const double time, double &position, double &velocity, double &acceleration)

Private Attributes
double	actualpose

double	actualvel

DataObjectLockFree< boost::shared_ptr< const SpecifiedTrajectory > >	current_trajectory_box_

double	duration

int	encoderTicksPerRound

double	gearRatio

bool	inverseDirection

bool	isControllerActive

boost::posix_time::ptime	last_time

PidController	pid

double	pose_error

double	targetAcceleration

double	targetPosition

double	targetVelocity

boost::posix_time::ptime	time

double	time_till_seg_start

double	velocity_error

double	velsetpoint

Detailed Description

Joint Trajectory Controller.

Definition at line 90 of file JointTrajectoryController.hpp.

Member Typedef Documentation

typedef std::vector<Segment> youbot::JointTrajectoryController::SpecifiedTrajectory

private

Definition at line 146 of file JointTrajectoryController.hpp.

Constructor & Destructor Documentation

youbot::JointTrajectoryController::JointTrajectoryController ( )

Definition at line 56 of file JointTrajectoryController.cpp.

youbot::JointTrajectoryController::~JointTrajectoryController ( )

virtual

Definition at line 83 of file JointTrajectoryController.cpp.

youbot::JointTrajectoryController::JointTrajectoryController ( const JointTrajectoryController & source )

private

Member Function Documentation

void youbot::JointTrajectoryController::cancelCurrentTrajectory ( )

Definition at line 253 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::generatePowers	(	const int	n,
		const double	x,
		double *	powers
	)

private

Definition at line 424 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::getConfigurationParameter	(	double &	PParameter,
		double &	IParameter,
		double &	DParameter,
		double &	IClippingMax,
		double &	IClippingMin
	)

Definition at line 88 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::getCubicSplineCoefficients	(	const double	start_pos,
		const double	start_vel,
		const double	end_pos,
		const double	end_vel,
		const double	time,
		std::vector< double > &	coefficients
	)

private

Definition at line 403 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::getLastTargetPosition ( JointAngleSetpoint & position )

Definition at line 339 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::getLastTargetVelocity ( JointVelocitySetpoint & velocity )

Definition at line 345 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::getQuinticSplineCoefficients	(	const double	start_pos,
		const double	start_vel,
		const double	start_acc,
		const double	end_pos,
		const double	end_vel,
		const double	end_acc,
		const double	time,
		std::vector< double > &	coefficients
	)

private

Definition at line 349 of file JointTrajectoryController.cpp.

bool youbot::JointTrajectoryController::isTrajectoryControllerActive ( )

Definition at line 264 of file JointTrajectoryController.cpp.

JointTrajectoryController& youbot::JointTrajectoryController::operator= ( const JointTrajectoryController & source )

private

void youbot::JointTrajectoryController::sampleQuinticSpline	(	const std::vector< double > &	coefficients,
		const double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

private

Definition at line 377 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		const double	duration,
		const double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

private

Definition at line 433 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::setConfigurationParameter	(	const double	PParameter,
		const double	IParameter,
		const double	DParameter,
		const double	IClippingMax,
		const double	IClippingMin
	)