TypeIIRMLPosition.h
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1 // ---------------------- Doxygen info ----------------------
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41 // For a convenient reading of this file's source code,
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44 
45 
46 #ifndef __TypeIIRMLPosition__
47 #define __TypeIIRMLPosition__
48 
49 
50 #include "RMLVelocityInputParameters.h"
51 #include "RMLVelocityOutputParameters.h"
52 #include "RMLPositionInputParameters.h"
53 #include "RMLPositionOutputParameters.h"
54 #include "RMLPositionFlags.h"
55 #include "RMLVelocityFlags.h"
56 #include "RMLVector.h"
57 #include "TypeIIRMLPolynomial.h"
58 #include "TypeIIRMLStep1Profiles.h"
59 #include "TypeIIRMLVelocity.h"
60 
61 
62 using namespace TypeIIRMLMath;
63 
64 
65 // ---------------------- Doxygen info ----------------------
144 // ----------------------------------------------------------
145 class TypeIIRMLPosition
146 {
147 public:
148 
149 
150 // ---------------------- Doxygen info ----------------------
173 // ----------------------------------------------------------
174  TypeIIRMLPosition( const unsigned int &DegreesOfFreedom
175  , const double &CycleTimeInSeconds);
176 
177 
178 // ---------------------- Doxygen info ----------------------
189 // ----------------------------------------------------------
190  ~TypeIIRMLPosition(void);
191 
192 
193 // ---------------------- Doxygen info ----------------------
269 // ----------------------------------------------------------
270  int GetNextStateOfMotion( const RMLPositionInputParameters &InputValues
271  , RMLPositionOutputParameters *OutputValues
272  , const RMLPositionFlags &Flags);
273 
274 
275 // ---------------------- Doxygen info ----------------------
331 // ----------------------------------------------------------
332  int GetNextStateOfMotionAtTime( const double &TimeValueInSeconds
333  , RMLPositionOutputParameters *OutputValues ) const;
334 
335 protected:
336 
337 // ---------------------- Doxygen info ----------------------
342 // ----------------------------------------------------------
343  enum FunctionResults
344  {
346  FUNC_SUCCESS = false,
348  FUNC_ERROR_OCCURRED = true
349  };
350 
351 
352 // ---------------------- Doxygen info ----------------------
371 // ----------------------------------------------------------
372  enum DominatValueForPhaseSync
373  {
375  UNDEFINED = 0,
380  POSITION = 1,
384  CURRENT_VELOCITY = 3,
388  TARGET_VELOCITY = 4
389  };
390 
391 
392 // ---------------------- Doxygen info ----------------------
418 // ----------------------------------------------------------
419  void CompareInitialAndTargetStateofMotion(void);
420 
421 
422 // ---------------------- Doxygen info ----------------------
461 // ----------------------------------------------------------
462  void Step1(void);
463 
464 
465 // ---------------------- Doxygen info ----------------------
508 // ----------------------------------------------------------
509  void Step2(void);
510 
511 
512 // ---------------------- Doxygen info ----------------------
548 // ----------------------------------------------------------
549  int Step3( const double &TimeValueInSeconds
550  , RMLPositionOutputParameters *OP ) const;
551 
552 
553 // ---------------------- Doxygen info ----------------------
623 // ----------------------------------------------------------
624  void FallBackStrategy( const RMLPositionInputParameters &InputValues
625  , RMLPositionOutputParameters *OutputValues
626  , const RMLPositionFlags &InputsFlags);
627 
628 
629 // ---------------------- Doxygen info ----------------------
665 // ----------------------------------------------------------
666  bool IsWithinAnInoperativeTimeInterval( const double &SynchronizationTimeCandidate
667  , const RMLDoubleVector &MaximalExecutionTime
668  , const RMLDoubleVector &AlternativeExecutionTime) const;
669 
670 
671 // ---------------------- Doxygen info ----------------------
734 // ----------------------------------------------------------
735  bool IsPhaseSynchronizationPossible(RMLDoubleVector *ReferenceVector);
736 
737 
738 // ---------------------- Doxygen info ----------------------
763 // ----------------------------------------------------------
764  void Step2PhaseSynchronization(void);
765 
766 
767 // ---------------------- Doxygen info ----------------------
815 // ----------------------------------------------------------
816  void CalculatePositionalExtrems( const double &TimeValueInSeconds
817  , RMLPositionOutputParameters *OP ) const;
818 
819 
820 // ---------------------- Doxygen info ----------------------
858 // ----------------------------------------------------------
859  void SetPositionalExtremsToZero(RMLPositionOutputParameters *OP) const;
860 
861 
862 // ---------------------- Doxygen info ----------------------
899 // ----------------------------------------------------------
900  void SetupModifiedSelectionVector(void);
901 
902 
903 // ---------------------- Doxygen info ----------------------
917 // ----------------------------------------------------------
918  unsigned int GetNumberOfSelectedDOFs(const RMLBoolVector &BoolVector) const;
919 
920 
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931 // ----------------------------------------------------------
932  bool CurrentTrajectoryIsPhaseSynchronized;
933 
934 
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944 // ----------------------------------------------------------
945  bool CurrentTrajectoryIsNotSynchronized;
946 
947 
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955 // ----------------------------------------------------------
956  bool CalculatePositionalExtremsFlag;
957 
958 
959 // ---------------------- Doxygen info ----------------------
967 // ----------------------------------------------------------
968  int ReturnValue;
969 
970 
971 // ---------------------- Doxygen info ----------------------
978 // ----------------------------------------------------------
979  unsigned int NumberOfDOFs;
980 
981 
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991 // ----------------------------------------------------------
992  unsigned int GreatestDOFForPhaseSynchronization;
993 
994 
995 // ---------------------- Doxygen info ----------------------
1003 // ----------------------------------------------------------
1004  unsigned int MotionProfileForPhaseSynchronization;
1005 
1006 
1007 // ---------------------- Doxygen info ----------------------
1014 // ----------------------------------------------------------
1015  double CycleTime;
1016 
1017 
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1028 // ----------------------------------------------------------
1029  double SynchronizationTime;
1030 
1031 
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1041 // ----------------------------------------------------------
1042  double InternalClockInSeconds;
1043 
1044 
1045 // ---------------------- Doxygen info ----------------------
1059 // ----------------------------------------------------------
1060  RMLPositionFlags OldFlags;
1061 
1062 
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1074 // ----------------------------------------------------------
1075  RMLBoolVector *ModifiedSelectionVector;
1076 
1077 
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1087 // ----------------------------------------------------------
1088  RMLVector<Step1_Profile> *UsedStep1AProfiles;
1089 
1090 
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1107 // ----------------------------------------------------------
1108  RMLDoubleVector *StoredTargetPosition;
1109 
1110 
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1120  RMLDoubleVector *MinimumExecutionTimes;
1121 
1122 
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1133  RMLDoubleVector *BeginningsOfInoperativeTimeIntervals;
1134 
1135 
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1145 // ----------------------------------------------------------
1146  RMLDoubleVector *EndingsOfInoperativeTimeIntervals;
1147 
1148 
1149 // ---------------------- Doxygen info ----------------------
1158 // ----------------------------------------------------------
1159  RMLDoubleVector *PhaseSynchronizationReferenceVector;
1160 
1161 
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1171 // ----------------------------------------------------------
1172  RMLDoubleVector *PhaseSynchronizationCurrentPositionVector;
1173 
1174 
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1185  RMLDoubleVector *PhaseSynchronizationTargetPositionVector;
1186 
1187 
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1198 // ----------------------------------------------------------
1199  RMLDoubleVector *PhaseSynchronizationPositionDifferenceVector;
1200 
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1212  RMLDoubleVector *PhaseSynchronizationCurrentVelocityVector;
1213 
1214 
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1224 // ----------------------------------------------------------
1225  RMLDoubleVector *PhaseSynchronizationTargetVelocityVector;
1226 
1227 
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1238 // ----------------------------------------------------------
1239  RMLDoubleVector *PhaseSynchronizationMaxVelocityVector;
1240 
1241 
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1252 // ----------------------------------------------------------
1253  RMLDoubleVector *PhaseSynchronizationMaxAccelerationVector;
1254 
1255 
1256 // ---------------------- Doxygen info ----------------------
1265 // ----------------------------------------------------------
1266  RMLDoubleVector *PhaseSynchronizationTimeVector;
1267 
1268 
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1278 // ----------------------------------------------------------
1279  RMLDoubleVector *PhaseSynchronizationCheckVector;
1280 
1281 
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1293  RMLDoubleVector *ArrayOfSortedTimes;
1294 
1295 
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1301 // ----------------------------------------------------------
1302  RMLDoubleVector *ZeroVector;
1303 
1304 
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1321  RMLPositionInputParameters *OldInputParameters;
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1323 
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1334  RMLPositionInputParameters *CurrentInputParameters;
1335 
1336 
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1350 // ----------------------------------------------------------
1351  RMLPositionOutputParameters *OutputParameters;
1352 
1353 
1354 // ---------------------- Doxygen info ----------------------
1368 // ----------------------------------------------------------
1369  TypeIIRMLVelocity *RMLVelocityObject;
1370 
1371 
1372 // ---------------------- Doxygen info ----------------------
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1389  RMLVelocityInputParameters *VelocityInputParameters;
1390 
1391 
1392 // ---------------------- Doxygen info ----------------------
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1409  RMLVelocityOutputParameters *VelocityOutputParameters;
1410 
1411 
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1429  RMLVelocityFlags VelocityFlags;
1430 
1431 
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1445  MotionPolynomials *Polynomials;
1446 
1447 
1448 // ---------------------- Doxygen info ----------------------
1460 // ----------------------------------------------------------
1461  DominatValueForPhaseSync PhaseSynchronizationMagnitude;
1462 
1463 
1464 }; // class TypeIIRMLPosition
1465 
1466 
1467 #endif
1468 
1469 
RMLPositionOutputParameters.h
Header file for the class RMLPositionOutputParameters.
RMLVector.h
Header file for the dynamic vector class used for the Reflexxes Motion Libraries. ...
RMLPositionFlags.h
Header file for the class RMLPositionFlags.
TypeIIRMLPosition::PhaseSynchronizationCurrentPositionVector
RMLDoubleVector * PhaseSynchronizationCurrentPositionVector
Current position vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLPosition.h:1172
TypeIIRMLPosition::StoredTargetPosition
RMLDoubleVector * StoredTargetPosition
Stores the original target position vector .
Definition: TypeIIRMLPosition.h:1108
RMLPositionFlags
Data structure containing flags to parameterize the execution of the position-based On-Line Trajector...
Definition: RMLPositionFlags.h:64
TypeIIRMLPosition::InternalClockInSeconds
double InternalClockInSeconds
In order to prevent from recalculating the trajectory within every control cycle and to safe CPU time...
Definition: TypeIIRMLPosition.h:1042
RMLVelocityFlags
Data structure containing flags to parameterize the execution of the velocity-based On-Line Trajector...
Definition: RMLVelocityFlags.h:64
TypeIIRMLPosition::PhaseSynchronizationTargetPositionVector
RMLDoubleVector * PhaseSynchronizationTargetPositionVector
Target position vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLPosition.h:1185
TypeIIRMLVelocity.h
Header file for the class TypeIIRMLVelocity.
TypeIIRMLPosition::MotionProfileForPhaseSynchronization
unsigned int MotionProfileForPhaseSynchronization
Contains the ID of the profile that is used for phase-synchronization.
Definition: TypeIIRMLPosition.h:1004
TypeIIRMLPosition::ArrayOfSortedTimes
RMLDoubleVector * ArrayOfSortedTimes
An array of possible synchronization times in seconds. It contains all values of , , and . The array contains elements.
Definition: TypeIIRMLPosition.h:1293
TypeIIRMLPosition::VelocityOutputParameters
RMLVelocityOutputParameters * VelocityOutputParameters
Pointer to an RMLVelocityOutputParameters object. It is used for the output parameters of the velocit...
Definition: TypeIIRMLPosition.h:1409
TypeIIRMLPosition::PhaseSynchronizationPositionDifferenceVector
RMLDoubleVector * PhaseSynchronizationPositionDifferenceVector
Position difference vector used for the calculation of phase-synchronized motion trajectories...
Definition: TypeIIRMLPosition.h:1199
TypeIIRMLMath::MotionPolynomials
Three arrays of TypeIIRMLMath::TypeIIRMLPolynomial.
Definition: TypeIIRMLPolynomial.h:260
TypeIIRMLPosition::DominatValueForPhaseSync
DominatValueForPhaseSync
Set of input vector identifiers that can determine the normalized vector for phase-synchronization.
Definition: TypeIIRMLPosition.h:372
TypeIIRMLPosition::ReturnValue
int ReturnValue
Contains the return value of the method TypeIIRMLPosition::GetNextStateOfMotion() ...
Definition: TypeIIRMLPosition.h:968
TypeIIRMLPosition::SynchronizationTime
double SynchronizationTime
If the trajectory is time- or phase-synchronized, this attribute will contain the synchronization tim...
Definition: TypeIIRMLPosition.h:1029
TypeIIRMLPosition::RMLVelocityObject
TypeIIRMLVelocity * RMLVelocityObject
Pointer to an TypeIIRMLVelocity object. The velocity-based On-Line Trajectory Generation algorithm is...
Definition: TypeIIRMLPosition.h:1369
TypeIIRMLPosition::PhaseSynchronizationCheckVector
RMLDoubleVector * PhaseSynchronizationCheckVector
Candidate for a reference vector used for phase-synchronized motion trajectories.
Definition: TypeIIRMLPosition.h:1279
TypeIIRMLPosition::Polynomials
MotionPolynomials * Polynomials
Pointer to an MotionPolynomials object, which contains the actual trajectory . It is a two-dimensiona...
Definition: TypeIIRMLPosition.h:1445
RMLPositionInputParameters.h
Header file for the class RMLPositionInputParameters.
TypeIIRMLPosition::CurrentInputParameters
RMLPositionInputParameters * CurrentInputParameters
Pointer to an RMLPositionInputParameters object. This object contains a complete set of input values ...
Definition: TypeIIRMLPosition.h:1334
TypeIIRMLPosition::BeginningsOfInoperativeTimeIntervals
RMLDoubleVector * BeginningsOfInoperativeTimeIntervals
Vector that contains the beginnings of inoperative time intervals in seconds, .
Definition: TypeIIRMLPosition.h:1133
RMLVelocityInputParameters.h
Header file for the class RMLVelocityInputParameters.
TypeIIRMLPosition::OutputParameters
RMLPositionOutputParameters * OutputParameters
Pointer to an RMLPositionOutputParameters object. This object contains the output parameters of the m...
Definition: TypeIIRMLPosition.h:1351
RMLVelocityFlags.h
Header file for the class RMLVelocityFlags.
TypeIIRMLPosition::CycleTime
double CycleTime
Contains the cycle time in seconds.
Definition: TypeIIRMLPosition.h:1015
TypeIIRMLPolynomial.h
Header file for the class TypeIIRMLMath::TypeIIRMLPolynomial and the struct TypeIIRMLMath::MotionPoly...
TypeIIRMLPosition::ZeroVector
RMLDoubleVector * ZeroVector
A vector with double elements, all of which are zero.
Definition: TypeIIRMLPosition.h:1302
TypeIIRMLPosition::MinimumExecutionTimes
RMLDoubleVector * MinimumExecutionTimes
Vector that contains the minimum execution times in seconds, .
Definition: TypeIIRMLPosition.h:1120
RMLVelocityOutputParameters.h
Header file for the class RMLVelocityOutputParameters.
RMLVelocityOutputParameters
Class for the output parameters of the velocity-based On-Line Trajectory Generation algorithm...
Definition: RMLVelocityOutputParameters.h:73
TypeIIRMLPosition::VelocityInputParameters
RMLVelocityInputParameters * VelocityInputParameters
Pointer to an RMLVelocityInputParameters object. It is used for the input parameters of the velocity-...
Definition: TypeIIRMLPosition.h:1389
TypeIIRMLPosition::PhaseSynchronizationTimeVector
RMLDoubleVector * PhaseSynchronizationTimeVector
A vector of execution time values in seconds for all selected degrees of freedom used for phase-synch...
Definition: TypeIIRMLPosition.h:1266
TypeIIRMLPosition::PhaseSynchronizationCurrentVelocityVector
RMLDoubleVector * PhaseSynchronizationCurrentVelocityVector
Current velocity vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLPosition.h:1212
TypeIIRMLPosition::OldInputParameters
RMLPositionInputParameters * OldInputParameters
Pointer to an RMLPositionInputParameters object. In order to check, whether a new calculation has to ...
Definition: TypeIIRMLPosition.h:1321
TypeIIRMLPosition::FunctionResults
FunctionResults
For class-internal use only: return values of boolean methods.
Definition: TypeIIRMLPosition.h:343
TypeIIRMLPosition::CurrentTrajectoryIsPhaseSynchronized
bool CurrentTrajectoryIsPhaseSynchronized
Indicates, whether the current trajectory is phase-synchronized.
Definition: TypeIIRMLPosition.h:932
TypeIIRMLPosition::VelocityFlags
RMLVelocityFlags VelocityFlags
Pointer to an RMLVelocityFlags object. It is used for the velocity-based On-Line Trajectory Generatio...
Definition: TypeIIRMLPosition.h:1429
TypeIIRMLPosition::ModifiedSelectionVector
RMLBoolVector * ModifiedSelectionVector
Boolean vector, which contains the modified selection vector that is based on the original selection ...
Definition: TypeIIRMLPosition.h:1075
TypeIIRMLPosition::UsedStep1AProfiles
RMLVector< Step1_Profile > * UsedStep1AProfiles
Vector that contains the profiles that are used by Step 1A to calculate .
Definition: TypeIIRMLPosition.h:1088
TypeIIRMLPosition::PhaseSynchronizationMaxVelocityVector
RMLDoubleVector * PhaseSynchronizationMaxVelocityVector
Contains the adapted maximum velocity vector for phase-synchronized trajectories.
Definition: TypeIIRMLPosition.h:1239
TypeIIRMLPosition::PhaseSynchronizationReferenceVector
RMLDoubleVector * PhaseSynchronizationReferenceVector
Reference vector for phase-synchronized trajectories, with .
Definition: TypeIIRMLPosition.h:1159
TypeIIRMLPosition::CalculatePositionalExtremsFlag
bool CalculatePositionalExtremsFlag
Indicates, whether the positional extremes are to be calculated.
Definition: TypeIIRMLPosition.h:956
TypeIIRMLStep1Profiles.h
Header file for the Step 1 motion profiles.
TypeIIRMLPosition::PhaseSynchronizationTargetVelocityVector
RMLDoubleVector * PhaseSynchronizationTargetVelocityVector
Target velocity vector used for the calculation of phase-synchronized motion trajectories.
Definition: TypeIIRMLPosition.h:1225
TypeIIRMLPosition::GreatestDOFForPhaseSynchronization
unsigned int GreatestDOFForPhaseSynchronization
Contains the index of the degree of freedom that was used to compute the reference vector for phase-s...
Definition: TypeIIRMLPosition.h:992
RMLPositionOutputParameters
Class for the output parameters of the position-based On-Line Trajectory Generation algorithm...
Definition: RMLPositionOutputParameters.h:73
RMLPositionInputParameters
Class for the input parameters of the position-based On-Line Trajectory Generation algorithm...
Definition: RMLPositionInputParameters.h:79
TypeIIRMLPosition
This class constitutes the low-level user interface of the Reflexxes Type II Motion Library...
Definition: TypeIIRMLPosition.h:145
RMLVelocityInputParameters
Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm...
Definition: RMLVelocityInputParameters.h:77
TypeIIRMLPosition::NumberOfDOFs
unsigned int NumberOfDOFs
The number of degrees of freedom .
Definition: TypeIIRMLPosition.h:979
TypeIIRMLPosition::PhaseSynchronizationMaxAccelerationVector
RMLDoubleVector * PhaseSynchronizationMaxAccelerationVector
Contains the adapted maximum acceleration vector for phase-synchronized trajectories.
Definition: TypeIIRMLPosition.h:1253
TypeIIRMLPosition::CurrentTrajectoryIsNotSynchronized
bool CurrentTrajectoryIsNotSynchronized
Indicates that no synchronization is required for the current set of input values, that is, the input flag RMLFlags::NO_SYNCHRONIZATION is set.
Definition: TypeIIRMLPosition.h:945
TypeIIRMLPosition::PhaseSynchronizationMagnitude
DominatValueForPhaseSync PhaseSynchronizationMagnitude
Value indicating, which of input vectors was used to compute the reference vector for phase-synchroni...
Definition: TypeIIRMLPosition.h:1461
TypeIIRMLPosition::EndingsOfInoperativeTimeIntervals
RMLDoubleVector * EndingsOfInoperativeTimeIntervals
Vector that contains the endings of inoperative time intervals in seconds, .
Definition: TypeIIRMLPosition.h:1146
TypeIIRMLPosition::OldFlags
RMLPositionFlags OldFlags
In order to check, whether a new calculation has to be started, the input values have to be compared ...
Definition: TypeIIRMLPosition.h:1060
RMLVector
This is a minimalistic dynamic vector class implementation used for the Reflexxes Motion Libraries...
Definition: RMLVector.h:77
TypeIIRMLVelocity
This class constitutes the user interface of velocity-based the Type II On-Line Trajectory Generation...
Definition: TypeIIRMLVelocity.h:103

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autogenerated on Sat Nov 21 2020 03:17:34