RampCommand Class Reference

#include <moveCommand.h>

Inheritance diagram for RampCommand:

[legend]

List of all members.

Public Member Functions
double	getPos ()
virtual double	getPos (double TimeElapsed)
	returns the planned position for TimeElapsed (seconds)
virtual double	getTotalTime ()
	returns the planned total time for the movement (in seconds)
double	getVel ()
virtual double	getVel (double TimeElapsed)
	returns the planned velocity for TimeElapsed (seconds)
virtual bool	inPhase1 ()
virtual bool	inPhase3 ()
virtual RampCommand &	operator= (const RampCommand &rc)
	RampCommand (const RampCommand &rc)
	RampCommand (double x0, double v0, double xtarget, double amax, double vmax)
virtual double	T1 ()
	Return the times of the different phases of the ramp move.
virtual double	T2 ()
virtual double	T3 ()
virtual	~RampCommand ()
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.
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

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Detailed Description

Definition at line 106 of file moveCommand.h.

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Constructor & Destructor Documentation

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

Definition at line 58 of file moveCommand.cpp.

RampCommand::RampCommand

(

const RampCommand &

rc

)

Definition at line 179 of file moveCommand.cpp.

virtual RampCommand::~RampCommand

(

)

[inline, virtual]

Definition at line 114 of file moveCommand.h.

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Member Function Documentation

void RampCommand::calculateAV	(	double	x0,
		double	v0,
		double	xtarget,
		double	time,
		double	T3,
		double	amax,
		double	vmax,
		double &	a,
		double &	v
	)			[static]

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

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.

Definition at line 315 of file moveCommand.cpp.

double RampCommand::getPos

(

)

[inline]

Definition at line 118 of file moveCommand.h.

double RampCommand::getPos

(

double

TimeElapsed

)

[virtual]

returns the planned position for TimeElapsed (seconds)

Implements moveCommand.

Definition at line 241 of file moveCommand.cpp.

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 304 of file moveCommand.cpp.

double RampCommand::getVel

(

)

[inline]

Definition at line 122 of file moveCommand.h.

double RampCommand::getVel

(

double

TimeElapsed

)

[virtual]

returns the planned velocity for TimeElapsed (seconds)

returns the planned velocity for TimeElapsed

Implements moveCommand.

Definition at line 274 of file moveCommand.cpp.

virtual bool RampCommand::inPhase1

(

)

[inline, virtual]

Definition at line 127 of file moveCommand.h.

virtual bool RampCommand::inPhase3

(

)

[inline, virtual]

Definition at line 129 of file moveCommand.h.

RampCommand & RampCommand::operator=

(

const RampCommand &

rc

)

[virtual]

Definition at line 206 of file moveCommand.cpp.

virtual double RampCommand::T1

(

)

[inline, virtual]

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

Definition at line 133 of file moveCommand.h.

virtual double RampCommand::T2

(

)

[inline, virtual]

Definition at line 134 of file moveCommand.h.

virtual double RampCommand::T3

(

)

[inline, virtual]

Definition at line 135 of file moveCommand.h.

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Member Data Documentation

std::ofstream RampCommand::debug [static, private]

Definition at line 142 of file moveCommand.h.

double RampCommand::m_a1 [private]

Definition at line 149 of file moveCommand.h.

double RampCommand::m_a3 [private]

Definition at line 149 of file moveCommand.h.

double RampCommand::m_amax [private]

Definition at line 146 of file moveCommand.h.

RampCommand* RampCommand::m_nachumkehr [private]

Definition at line 151 of file moveCommand.h.

double RampCommand::m_T1 [private]

Definition at line 148 of file moveCommand.h.

double RampCommand::m_T2 [private]

Definition at line 148 of file moveCommand.h.

double RampCommand::m_T3 [private]

Definition at line 148 of file moveCommand.h.

bool RampCommand::m_umkehr [private]

Definition at line 150 of file moveCommand.h.

double RampCommand::m_v0 [private]

Definition at line 144 of file moveCommand.h.

double RampCommand::m_v2 [private]

Definition at line 149 of file moveCommand.h.

double RampCommand::m_vmax [private]

Definition at line 146 of file moveCommand.h.

double RampCommand::m_x0 [private]

Definition at line 144 of file moveCommand.h.

double RampCommand::m_xtarget [private]

Definition at line 145 of file moveCommand.h.

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

• moveCommand.h
• moveCommand.cpp