#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 95 of file JointTrajectoryController.hpp.

Member Typedef Documentation

typedef std::vector<Segment> youbot::JointTrajectoryController::SpecifiedTrajectory [private]

Definition at line 168 of file JointTrajectoryController.hpp.

Constructor & Destructor Documentation

youbot::JointTrajectoryController::JointTrajectoryController ( )

Definition at line 55 of file JointTrajectoryController.cpp.

youbot::JointTrajectoryController::~JointTrajectoryController ( ) [virtual]

Definition at line 82 of file JointTrajectoryController.cpp.

youbot::JointTrajectoryController::JointTrajectoryController ( const JointTrajectoryController & source ) [private]

Member Function Documentation

void youbot::JointTrajectoryController::cancelCurrentTrajectory ( )

Definition at line 255 of file JointTrajectoryController.cpp.

void youbot::JointTrajectoryController::generatePowers	(	const int	n,
		const double	x,
		double *	powers
	)		`[private]`

Definition at line 445 of file JointTrajectoryController.cpp.

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

Definition at line 87 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 418 of file JointTrajectoryController.cpp.

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

Definition at line 352 of file JointTrajectoryController.cpp.

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

Definition at line 359 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 364 of file JointTrajectoryController.cpp.

bool youbot::JointTrajectoryController::isTrajectoryControllerActive ( )

Definition at line 267 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 399 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 456 of file JointTrajectoryController.cpp.

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