simulatedMotor.h

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/****************************************************************
 *
 * Copyright (c) 2010
 *
 * Fraunhofer Institute for Manufacturing Engineering   
 * and Automation (IPA)
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Project name: care-o-bot
 * ROS stack name: cob_driver
 * ROS package name: cob_powercube_chain
 * Description: This class simulates a PowerCube.
 *                                                              
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *                      
 * Author: Felix Geibel, email:Felix.Geibel@gmx.de
 * Supervised by: Alexander Bubeck, email:alexander.bubeck@ipa.fhg.de
 *
 * Date of creation: Aug 2007
 * ToDo:
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Fraunhofer Institute for Manufacturing 
 *       Engineering and Automation (IPA) nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
 * License, or (at your option) any later version.
 * 
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License LGPL for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public 
 * License LGPL along with this program. 
 * If not, see <http://www.gnu.org/licenses/>.
 *
 ****************************************************************/

#ifndef _SIMULATED_MOTOR_H_
#define _SIMULATED_MOTOR_H_

#include <cob_powercube_chain/moveCommand.h>
#include <string>

class simulatedMotor
{
        public:
                
                simulatedMotor(double lowLimit, double upLimit, double maxAcc, double maxVel);
                ~simulatedMotor() {;}
                
                virtual bool init() { return true; }

                virtual std::string getErrorMessage() { return std::string("No Errors."); }
                
                // virtual void setDebugOutput(ostream* os) { deb = os; }
                
                // Zunächst die Steuerungs-Funktionen: //

                virtual void moveRamp(double targetAngle, double vmax, double amax);
        
                virtual void moveVel(double vel);
                
                virtual void movePos(double pos);
                
                virtual void stop();
                
                // Funktionen zum setzen und auslesen von Parametern: //
                
                virtual void setMaxVelocity(double radpersec) { m_vmax = radpersec; }
                virtual double getMaxVelocity() { return m_vmax; }
                
                virtual void setMaxAcceleration(double radPerSecSquared) { m_amax = radPerSecSquared; }
                virtual double getMaxAcceleration() { return m_amax; }
                
                virtual void setLimits(double lowerLimit, double upperLimit)
                        { m_ul = upperLimit; m_ll = lowerLimit; }
                virtual double getUpperLimit() { return m_ul; }
                virtual double getLowerLimit() { return m_ll; }
                
                virtual void setTimeConstant(double T) { T0 = T; }
                virtual double getTimeConstant() const { return T0; }
                
                // hier die Funktionen zur Statusabfrage: //
                
                virtual RampCommand getRampMove(double targetAngle, double v, double a);
                
                virtual RampCommand getRampMove(double targetAngle) { return getRampMove(targetAngle, m_vmax, m_amax); }
                
                virtual double getAngle() { return m_lastMove.getPos(); }
                
                virtual double getVelocity() { return m_lastMove.getVel(); }
                
                virtual bool statusMoving() { return m_lastMove.isActive(); }
                
                virtual bool statusDec() { return m_lastMove.inPhase3(); }
                
                virtual bool statusAcc() { return m_lastMove.inPhase1(); }
                
        private:
                
                RampCommand m_lastMove;
                
                double m_ul, m_ll;                      // upper limit and lower limit
                double m_amax, m_vmax;          // Never mover faster than this!
                
                double T0;                                      // Zeitkonstante für Annäherung der Sprungantwort durch Rampe
                
                //ostream * deb;
};


#endif

---

cob_powercube_chain
Author(s): Florian Weisshardt
autogenerated on Fri Jan 11 09:14:20 2013