RMLFlags Class Reference

Data structure containing flags to parameterize the execution of the On-Line Trajectory Generation algorithm. More...

#include <RMLFlags.h>

Inheritance diagram for RMLFlags:

Public Types
enum	SyncBehaviorEnum { PHASE_SYNCHRONIZATION_IF_POSSIBLE = 0, ONLY_TIME_SYNCHRONIZATION = 1, ONLY_PHASE_SYNCHRONIZATION = 2, NO_SYNCHRONIZATION = 3 }
	Enumeration whose values specify the synchronization method of the On-Line Trajectory Generation algorithm. More...

Public Member Functions
bool	operator!= (const RMLFlags &Flags) const
	Unequal operator. More...
bool	operator== (const RMLFlags &Flags) const
	Equal operator. More...
	~RMLFlags (void)
	Destructor of the class RMLFlags. More...

Public Attributes
bool	EnableTheCalculationOfTheExtremumMotionStates
	A flag to enable or disable the calculation of the extremum states of motion of the currently calculated trajectory. More...
unsigned char	SynchronizationBehavior
	This value specifies the desired synchronization behavior. More...

Protected Member Functions
	RMLFlags (void)
	Constructor of the class. More...

Detailed Description

Data structure containing flags to parameterize the execution of the On-Line Trajectory Generation algorithm.

Definition at line 59 of file RMLFlags.h.

Member Enumeration Documentation

enum RMLFlags::SyncBehaviorEnum

Enumeration whose values specify the synchronization method of the On-Line Trajectory Generation algorithm.

See also

RMLFlags::SynchronizationBehavior

page_SynchronizationBehavior

page_PSIfPossible

Enumerator
PHASE_SYNCHRONIZATION_IF_POSSIBLE	This is the default value. If it is possible to calculate a phase-synchronized (i.e., homothetic) trajectory, the algorithm will generate it. A more detailed description of this flag can be found on the page page_PSIfPossible.
ONLY_TIME_SYNCHRONIZATION	Even if it is possible to calculate a phase-synchronized trajectory, only a time-synchronized trajectory will be provided. More information can be found on page page_SynchronizationBehavior.
ONLY_PHASE_SYNCHRONIZATION	Only phase-synchronized trajectories are allowed. If it is not possible calculate a phase-synchronized trajectory, an error will be returned (but feasible, steady, and continuous output values will still be computed). More information can be found on page page_SynchronizationBehavior.
NO_SYNCHRONIZATION	No synchronization will be performed, and all selected degrees of freedom are treated independently.

Definition at line 139 of file RMLFlags.h.

Constructor & Destructor Documentation

RMLFlags::RMLFlags ( void  )

inlineprotected

Constructor of the class.

Note

This is only the base class for the classes

• RMLPositionFlags and
• RMLVelocityFlags,
  
  

such that the constructor is declared protected.

Definition at line 78 of file RMLFlags.h.

RMLFlags::~RMLFlags ( void  )

inline

Destructor of the class RMLFlags.

Definition at line 91 of file RMLFlags.h.

Member Function Documentation

bool RMLFlags::operator!= ( const RMLFlags &  Flags ) const

inline

Unequal operator.

Returns

false if all attributes of both objects are equal; true otherwise

Definition at line 122 of file RMLFlags.h.

bool RMLFlags::operator== ( const RMLFlags &  Flags ) const

inline

Equal operator.

Returns

true if all attributes of both objects are equal; false otherwise

Definition at line 105 of file RMLFlags.h.

Member Data Documentation

bool RMLFlags::EnableTheCalculationOfTheExtremumMotionStates

A flag to enable or disable the calculation of the extremum states of motion of the currently calculated trajectory.

If this flag is set, a call of

• ReflexxesAPI::RMLPosition() or
• ReflexxesAPI::RMLVelocity()

will not only calculate the desired trajectory, but also the motion states at the extremum positions. These values will be accessible through the methods of the classes

• RMLPositionOutputParameters and
• RMLVelocityOutputParameters

Remarks

In average, the calculation of the extremum states of motion takes about five percent the overall computational effort of the OTG algorithm, such that the maximum execution time of the algorithm will be decreased by disabling this flag.

Note

The default value for this flag is true.

See also

page_OutputValues

page_FinalStateReachedBehavior

page_PSIfPossible

Definition at line 227 of file RMLFlags.h.

unsigned char RMLFlags::SynchronizationBehavior

This value specifies the desired synchronization behavior.

The following values are possible:

• RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE
• RMLFlags::ONLY_TIME_SYNCHRONIZATION
• RMLFlags::ONLY_PHASE_SYNCHRONIZATION
• RMLFlags::NO_SYNCHRONIZATION

Further details about time- and phase-synchronization can be found in the section on page_SynchronizationBehavior and at RMLFlags::SyncBehaviorEnum.

See also

RMLPositionFlags

RMLVelocityFlags

RMLPositionOutputParameters::IsTrajectoryPhaseSynchronized()

RMLVelocityOutputParameters::IsTrajectoryPhaseSynchronized()

page_SynchronizationBehavior

page_PSIfPossible

Definition at line 192 of file RMLFlags.h.

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

• RMLFlags.h