Class for the input parameters of the position-based On-Line Trajectory Generation algorithm. More...

#include <RMLPositionInputParameters.h>

Inheritance diagram for RMLPositionInputParameters:

Public Member Functions
bool	CheckForValidity (void) const
	Checks the input parameters for validity. More...

void	Echo (FILE *FileHandler=stdout) const
	Prints the complete set of input parameters to *FileHandler. More...

void	GetAlternativeTargetVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetAlternativeTargetVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the memory pointed to by `InputVector`. More...

void	GetAlternativeTargetVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the memory pointed to by `InputValue`. More...

double	GetAlternativeTargetVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ . More...

void	GetMaxVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetMaxVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the memory pointed to by `InputVector`. More...

void	GetMaxVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the memory pointed to by `InputValue`. More...

double	GetMaxVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ . More...

void	GetTargetPositionVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the target position vector $\vec{P}_{i}^{\,trgt}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetTargetPositionVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the target position vector $\vec{P}_{i}^{\,trgt}$ to the memory pointed to by `InputVector`. More...

void	GetTargetPositionVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the target position vector $\vec{P}_{i}^{\,trgt}$ to the memory pointed to by `InputValue`. More...

double	GetTargetPositionVectorElement (const unsigned int &Index) const
	Returns one single element of the target position vector $\vec{P}_{i}^{\,trgt}$ . More...

RMLPositionInputParameters &	operator= (const RMLPositionInputParameters &IP)
	Copy operator. More...

	RMLPositionInputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLPositionInputParameters. More...

	RMLPositionInputParameters (const RMLPositionInputParameters &IP)
	Copy constructor of class RMLPositionInputParameters. More...

void	SetAlternativeTargetVelocityVector (const RMLDoubleVector &InputVector)
	Sets the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ by using the an `RMLDoubleVector` object. More...

void	SetAlternativeTargetVelocityVector (const double *InputVector)
	Sets the alternative target velocity vector $\vec{V}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetAlternativeTargetVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ . More...

void	SetMaxVelocityVector (const RMLDoubleVector &InputVector)
	Sets the maximum velocity vector $\vec{V}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetMaxVelocityVector (const double *InputVector)
	Sets the maximum velocity vector $\vec{V}_{i}^{\,max}$ by using a native C `double` array. More...

void	SetMaxVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ . More...

void	SetTargetPositionVector (const RMLDoubleVector &InputVector)
	Sets the target position vector $\vec{P}_{i}^{\,trgt}$ by using the an `RMLDoubleVector` object. More...

void	SetTargetPositionVector (const double *InputVector)
	Sets the target position vector $\vec{P}_{i}^{\,trgt}$ by using a native C `double` array. More...

void	SetTargetPositionVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the target position vector $\vec{P}_{i}^{\,trgt}$ . More...

	~RMLPositionInputParameters (void)
	Destructor of class RMLPositionInputParameters. More...

Public Member Functions inherited from RMLInputParameters
void	GetCurrentAccelerationVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current acceleration vector $\vec{A}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentAccelerationVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current acceleration vector $\vec{A}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentAccelerationVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current acceleration vector $\vec{A}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentAccelerationVectorElement (const unsigned int &Index) const
	Returns one single element of the current acceleration vector $\vec{A}_{i}$ . More...

void	GetCurrentPositionVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current position vector $\vec{P}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentPositionVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current position vector $\vec{P}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentPositionVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current selection vector $\vec{P}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentPositionVectorElement (const unsigned int &Index) const
	Returns one single element of the current selection vector $\vec{P}_{i}$ . More...

void	GetCurrentVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the current velocity vector $\vec{V}_{i}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetCurrentVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the current velocity vector $\vec{V}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetCurrentVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the current velocity vector $\vec{V}_{i}$ to the memory pointed to by `InputValue`. More...

double	GetCurrentVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the current velocity vector $\vec{V}_{i}$ . More...

void	GetMaxAccelerationVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetMaxAccelerationVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the memory pointed to by `InputVector`. More...

void	GetMaxAccelerationVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ to the memory pointed to by `InputValue`. More...

double	GetMaxAccelerationVectorElement (const unsigned int &Index) const
	Returns one single element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

void	GetMaxJerkVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetMaxJerkVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the memory pointed to by `InputVector`. More...

void	GetMaxJerkVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ to the memory pointed to by `InputValue`. More...

double	GetMaxJerkVectorElement (const unsigned int &Index) const
	Returns one single element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

double	GetMinimumSynchronizationTime (void) const
	Returns the optional parameter for the desired execution time. More...

unsigned int	GetNumberOfDOFs (void) const
	Returns the number of degrees of freedom. More...

void	GetSelectionVector (RMLBoolVector *InputVector) const
	Copies the contents of the `RMLBoolVector` object containing the current position vector $\vec{S}_{i}$ to the `RMLBoolVector` object referred to by `InputVector`. More...

void	GetSelectionVector (bool *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `bool` values representing the current position vector $\vec{S}_{i}$ to the memory pointed to by `InputVector`. More...

void	GetSelectionVectorElement (bool *InputValue, const unsigned int &Index) const
	Copies one element of the current selection vector $\vec{S}_{i}$ to the memory pointed to by `InputValue`. More...

bool	GetSelectionVectorElement (const unsigned int &Index) const
	Returns one single element of the current selection vector $\vec{S}_{i}$ . More...

void	GetTargetVelocityVector (RMLDoubleVector *InputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the `RMLDoubleVector` object referred to by `InputVector`. More...

void	GetTargetVelocityVector (double *InputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the memory pointed to by `InputVector`. More...

void	GetTargetVelocityVectorElement (double *InputValue, const unsigned int &Index) const
	Copies one element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ to the memory pointed to by `InputValue`. More...

double	GetTargetVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

RMLInputParameters &	operator= (const RMLInputParameters &IP)
	Copy operator. More...

	RMLInputParameters (const RMLInputParameters &IP)
	Copy constructor of class RMLInputParameters. More...

void	SetCurrentAccelerationVector (const RMLDoubleVector &InputVector)
	Sets the current acceleration vector $\vec{A}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentAccelerationVector (const double *InputVector)
	Sets the current acceleration vector $\vec{A}_{i}$ by using a native C `double` array. More...

void	SetCurrentAccelerationVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current acceleration vector $\vec{A}_{i}$ . More...

void	SetCurrentPositionVector (const RMLDoubleVector &InputVector)
	Sets the current selection vector $\vec{P}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentPositionVector (const double *InputVector)
	Sets the current selection vector $\vec{P}_{i}$ by using a native C `double` array. More...

void	SetCurrentPositionVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current selection vector $\vec{P}_{i}$ . More...

void	SetCurrentVelocityVector (const RMLDoubleVector &InputVector)
	Sets the current velocity vector $\vec{V}_{i}$ by using the an `RMLDoubleVector` object. More...

void	SetCurrentVelocityVector (const double *InputVector)
	Sets the current velocity vector $\vec{V}_{i}$ by using a native C `double` array. More...

void	SetCurrentVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the current velocity vector $\vec{V}_{i}$ . More...

void	SetMaxAccelerationVector (const RMLDoubleVector &InputVector)
	Sets the maximum acceleration vector $\vec{A}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetMaxAccelerationVector (const double *InputVector)
	Sets the maximum acceleration vector $\vec{A}_{i}^{\,max}$ by using a native C `double` array. More...

void	SetMaxAccelerationVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

void	SetMaxJerkVector (const RMLDoubleVector &InputVector)
	Sets the maximum jerk vector $\vec{J}_{i}^{\,max}$ by using the an `RMLDoubleVector` object. More...

void	SetMaxJerkVector (const double *InputVector)
	Sets the maximum jerk vector $\vec{J}_{i}^{\,max}$ by using a native C `double` array. More...

void	SetMaxJerkVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

void	SetMinimumSynchronizationTime (double Time)
	Sets the optional parameter for the desired execution time. More...

void	SetSelectionVector (const RMLBoolVector &InputVector)
	Sets the current selection vector $\vec{S}_{i}$ by using the an RMLBoolVector object. More...

void	SetSelectionVector (const bool *InputVector)
	Sets the current selection vector $\vec{S}_{i}$ by using a native C++ `bool` array. More...

void	SetSelectionVectorElement (const bool &InputValue, const unsigned int &Index)
	Sets one element of the current selection vector $\vec{S}_{i}$ . More...

void	SetTargetVelocityVector (const RMLDoubleVector &InputVector)
	Sets the target velocity vector $\vec{V}_{i}^{\,trgt}$ by using the an `RMLDoubleVector` object. More...

void	SetTargetVelocityVector (const double *InputVector)
	Sets the target velocity vector $\vec{V}_{i}^{\,trgt}$ by using a native C `double` array. More...

void	SetTargetVelocityVectorElement (const double &InputValue, const unsigned int &Index)
	Sets one element of the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

	~RMLInputParameters (void)
	Destructor of class RMLInputParameters. More...

Public Attributes
RMLDoubleVector *	AlternativeTargetVelocityVector
	A pointer to an alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ . More...

RMLDoubleVector *	MaxVelocityVector
	A pointer to the maximum velocity vector $\vec{V}_{i}^{\,max}$ . More...

RMLDoubleVector *	TargetPositionVector
	A pointer to the target position vector $\vec{P}_{i}^{\,trgt}$ . More...

Public Attributes inherited from RMLInputParameters
RMLDoubleVector *	CurrentAccelerationVector
	A pointer to the current acceleration vector $\vec{A}_{i}$ . More...

RMLDoubleVector *	CurrentPositionVector
	A pointer to the current position vector $\vec{P}_{i}$ . More...

RMLDoubleVector *	CurrentVelocityVector
	A pointer to the current velocity vector $\vec{V}_{i}$ . More...

RMLDoubleVector *	MaxAccelerationVector
	A pointer to the maximum acceleration vector $\vec{A}_{i}^{\,max}$ . More...

RMLDoubleVector *	MaxJerkVector
	A pointer to the maximum jerk vector $\vec{J}_{i}^{\,max}$ . More...

double	MinimumSynchronizationTime
	Minimum trajectory execution time in seconds specified by the user (optional input parameter) More...

unsigned int	NumberOfDOFs
	The number of degrees of freedom . More...

RMLBoolVector *	SelectionVector
	A pointer to the selection vector $\vec{S}_{i}$ . More...

RMLDoubleVector *	TargetVelocityVector
	A pointer to the target velocity vector $\vec{V}_{i}^{\,trgt}$ . More...

Protected Types
enum	{ MAXIMUM_MAGNITUDE_RANGE = 8 }

Additional Inherited Members
Protected Member Functions inherited from RMLInputParameters
void	Echo (FILE *FileHandler=stdout) const
	Prints the complete set of input parameters to *FileHandler. More...

	RMLInputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLInputParameters. More...

Detailed Description

Class for the input parameters of the position-based On-Line Trajectory Generation algorithm.

The class RMLPositionInputParameters is derived from the class RMLInputParameters and constitutes a part of the interface for the position-based On-Line Trajectory Generation algorithm.

A detailed description can be found at page_InputValues.

See also: ReflexxesAPI; RMLInputParameters; RMLVelocityInputParameters; RMLPositionOutputParameters; page_InputValues

Definition at line 79 of file RMLPositionInputParameters.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
MAXIMUM_MAGNITUDE_RANGE	Specifies the maximum allowed range for the orders of magnitude of the input values.

Definition at line 960 of file RMLPositionInputParameters.h.

Constructor & Destructor Documentation

RMLPositionInputParameters::RMLPositionInputParameters ( const unsigned int DegreesOfFreedom )

inline

Constructor of class RMLPositionInputParameters.

Warning: The constructor is not real-time capable as heap memory has to be allocated.

Parameters

DegreesOfFreedom Specifies the number of degrees of freedom

Definition at line 97 of file RMLPositionInputParameters.h.

RMLPositionInputParameters::RMLPositionInputParameters ( const RMLPositionInputParameters & IP )

inline

Copy constructor of class RMLPositionInputParameters.

Warning: The constructor is not real-time capable as heap memory has to be allocated.

Parameters

IP	Object to be copied

Definition at line 122 of file RMLPositionInputParameters.h.

RMLPositionInputParameters::~RMLPositionInputParameters ( void )

inline

Destructor of class RMLPositionInputParameters.

Definition at line 140 of file RMLPositionInputParameters.h.

Member Function Documentation

bool RMLPositionInputParameters::CheckForValidity ( void ) const

inline

Checks the input parameters for validity.

This is an important method to ensure numerical robustness of the On-Line Trajectory Generation algorithm. Only if the result of this method is true, a correct computation of output values can be obtained. If the result is false, the On-Line Trajectory Generation Algorithm will try compute correct output values, and in many cases, this is possible, but it is not guaranteed. All input values have to be within a proper order of magnitude (cf. RMLPositionInputParameters::MAXIMUM_MAGNITUDE_RANGE), the kinematic motion constraints, that is, the maximum values for velocity, and acceleration, have to be positive, and the target velocity must not be greater than the maximum velocity.

Returns

true, if all requirements for input parameters are met
false, otherwise

Note

In order to achieve an optimal performance of the On-Line Trajectory Generation algorithm, this method is only executed in case of an error with the purpose to specify the error code of the result value (cf. ReflexxesAPI::RMLResultValue). As a consequence, there is no loss CPU time inside of the Reflexxes Motion Library, such that also the worst-case execution time is not negatively influenced. Please consider this method just as an additional possibility for the user application to check whether the current input values are valid for the On-Line Trajectory Generation algorithm.
If the On-Line Trajectory Generation algorithm is fed with invalid input parameters, it will try to compute correct output values. This works for many cases, and correct output values can be provided. If no correct output values can be calculated, it is guaranteed that valid output are provided in any case (cf. page_ErrorHandling).

See also: ReflexxesAPI::RMLResultValue; RMLPositionInputParameters::MAXIMUM_MAGNITUDE_RANGE; RMLVelocityInputParameters::CheckForValidity(); RMLVelocityInputParameters::MAXIMUM_MAGNITUDE_RANGE; page_InputValues

Definition at line 823 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::Echo ( FILE * FileHandler = stdout ) const

inline

Prints the complete set of input parameters to *FileHandler.

Parameters

FileHandler File handler for the output

Warning: The usage of this method is not real-time capable.

Definition at line 924 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetAlternativeTargetVelocityVector ( RMLDoubleVector * InputVector ) const

inline

Copies the contents of the RMLDoubleVector object containing the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the RMLDoubleVector object referred to by InputVector.

Parameters

InputVector A pointer to an RMLDoubleVector object, to which the data will be copied

See also: SetAlternativeTargetVelocityVector(const RMLDoubleVector &InputVector); GetAlternativeTargetVelocityVector(double *InputVector, const unsigned int &SizeInBytes) const; GetAlternativeTargetVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 668 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetAlternativeTargetVelocityVector	(	double *	InputVector,
		const unsigned int &	SizeInBytes
	)		const

inline

Copies the array of double values representing the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the memory pointed to by InputVector.

Parameters

InputVector	A pointer to an array of `double` values, to which the data will be copied
SizeInBytes	The size of available memory at the location pointed to by `InputVector`. To assure safety and to prevent from prohibited writing into protected memory areas, the user has to specify the amount of available memory in bytes. For a correct operation, the value of `SizeInBytes` has to equal the number of vector elements multiplied by the size of a `double` value.

See also: SetAlternativeTargetVelocityVector(const double *InputVector); GetAlternativeTargetVelocityVector(RMLDoubleVector *InputVector) const; GetAlternativeTargetVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 699 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetAlternativeTargetVelocityVectorElement	(	double *	InputValue,
		const unsigned int &	Index
	)		const

inline

Copies one element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ to the memory pointed to by InputValue.

Parameters

InputValue	A pointer to one `double` value, to which the desired vector element will be copied
Index	Specifies the desired element of the vector. The element numbering starts with 0 (zero). If this value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by `InputValue`.

See also: SetAlternativeTargetVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetAlternativeTargetVelocityVector(RMLDoubleVector *InputVector) const; GetAlternativeTargetVelocityVectorElement(double *InputValue, const unsigned int &Index) const; GetAlternativeTargetVelocityVectorElement(const unsigned int &Index) const

Definition at line 731 of file RMLPositionInputParameters.h.

double RMLPositionInputParameters::GetAlternativeTargetVelocityVectorElement ( const unsigned int & Index ) const

inline

Returns one single element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ .

Parameters

Index Specifies the desired element of the vector. The index of the first vector element is 0 (zero). If the value of Index value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by InputValue.

See also: SetAlternativeTargetVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetAlternativeTargetVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 761 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetMaxVelocityVector ( RMLDoubleVector * InputVector ) const

inline

Copies the contents of the RMLDoubleVector object containing the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the RMLDoubleVector object referred to by InputVector.

Parameters

InputVector A pointer to an RMLDoubleVector object, to which the data will be copied

See also: SetMaxVelocityVector(const RMLDoubleVector &InputVector); GetMaxVelocityVector(double *InputVector, const unsigned int &SizeInBytes) const; GetMaxVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 260 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetMaxVelocityVector	(	double *	InputVector,
		const unsigned int &	SizeInBytes
	)		const

inline

Copies the array of double values representing the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the memory pointed to by InputVector.

Parameters

InputVector	A pointer to an array of `double` values, to which the data will be copied
SizeInBytes	The size of available memory at the location pointed to by `InputVector`. To assure safety and to prevent from prohibited writing into protected memory areas, the user has to specify the amount of available memory in bytes. For a correct operation, the value of `SizeInBytes` has to equal the number of vector elements multiplied by the size of a `double` value.

See also: SetMaxVelocityVector(const double *InputVector); GetMaxVelocityVector(RMLDoubleVector *InputVector) const; GetMaxVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 290 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetMaxVelocityVectorElement	(	double *	InputValue,
		const unsigned int &	Index
	)		const

inline

Copies one element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ to the memory pointed to by InputValue.

Parameters

InputValue	A pointer to one `double` value, to which the desired vector element will be copied
Index	Specifies the desired element of the vector. The element numbering starts with 0 (zero). If this value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by `InputValue`.

See also: SetMaxVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetMaxVelocityVector(RMLDoubleVector *InputVector) const; GetMaxVelocityVectorElement(double *InputValue, const unsigned int &Index) const; GetMaxVelocityVectorElement(const unsigned int &Index) const

Definition at line 321 of file RMLPositionInputParameters.h.

double RMLPositionInputParameters::GetMaxVelocityVectorElement ( const unsigned int & Index ) const

inline

Returns one single element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ .

Parameters

Index Specifies the desired element of the vector. The index of the first vector element is 0 (zero). If the value of Index value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by InputValue.

See also: SetMaxVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetMaxVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 351 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetTargetPositionVector ( RMLDoubleVector * InputVector ) const

inline

Copies the contents of the RMLDoubleVector object containing the target position vector $\vec{P}_{i}^{\,trgt}$ to the RMLDoubleVector object referred to by InputVector.

Parameters

InputVector A pointer to an RMLDoubleVector object, to which the data will be copied

See also: SetTargetPositionVector(const RMLDoubleVector &InputVector); GetTargetPositionVector(double *InputVector, const unsigned int &SizeInBytes) const; GetTargetPositionVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 451 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetTargetPositionVector	(	double *	InputVector,
		const unsigned int &	SizeInBytes
	)		const

inline

Copies the array of double values representing the target position vector $\vec{P}_{i}^{\,trgt}$ to the memory pointed to by InputVector.

Parameters

InputVector	A pointer to an array of `double` values, to which the data will be copied
SizeInBytes	The size of available memory at the location pointed to by `InputVector`. To assure safety and to prevent from prohibited writing into protected memory areas, the user has to specify the amount of available memory in bytes. For a correct operation, the value of `SizeInBytes` has to equal the number of vector elements multiplied by the size of a `double` value.

See also: SetTargetPositionVector(const double *InputVector); GetTargetPositionVector(RMLDoubleVector *InputVector) const; GetTargetPositionVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 481 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::GetTargetPositionVectorElement	(	double *	InputValue,
		const unsigned int &	Index
	)		const

inline

Copies one element of the target position vector $\vec{P}_{i}^{\,trgt}$ to the memory pointed to by InputValue.

Parameters

InputValue	A pointer to one `double` value, to which the desired vector element will be copied
Index	Specifies the desired element of the vector. The element numbering starts with 0 (zero). If this value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by `InputValue`.

See also: SetTargetPositionVectorElement(const double &InputValue, const unsigned int &Index); GetTargetPositionVector(RMLDoubleVector *InputVector) const; GetTargetPositionVectorElement(double *InputValue, const unsigned int &Index) const; GetTargetPositionVectorElement(const unsigned int &Index) const

Definition at line 512 of file RMLPositionInputParameters.h.

double RMLPositionInputParameters::GetTargetPositionVectorElement ( const unsigned int & Index ) const

inline

Returns one single element of the target position vector $\vec{P}_{i}^{\,trgt}$ .

Parameters

Index Specifies the desired element of the vector. The index of the first vector element is 0 (zero). If the value of Index value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by InputValue.

See also: SetTargetPositionVectorElement(const double &InputValue, const unsigned int &Index); GetTargetPositionVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 542 of file RMLPositionInputParameters.h.

RMLPositionInputParameters & RMLPositionInputParameters::operator= ( const RMLPositionInputParameters & IP )

inline

Copy operator.

Parameters

IP	RMLPositionInputParameters object to be copied

Definition at line 161 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetAlternativeTargetVelocityVector ( const RMLDoubleVector & InputVector )

inline

Sets the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ by using the an RMLDoubleVector object.

This vector only becomes applied for the fall back strategy when no correct output values can be calculated (e.g., due to incorrect input values.

Parameters

InputVector The input vector, whose elements are copied to the attributes of this class.

Note: By default and and in most cases this vector equals the zero vector.

See also: SetAlternativeTargetVelocityVector(const double *InputVector); SetAlternativeTargetVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetAlternativeTargetVelocityVector(RMLDoubleVector *InputVector) const

Definition at line 581 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetAlternativeTargetVelocityVector ( const double * InputVector )

inline

Sets the alternative target velocity vector $\vec{V}_{i}^{\,max}$ by using the an RMLDoubleVector object.

This vector only becomes applied for the fall back strategy when no correct output values can be calculated (e.g., due to incorrect input values.

Parameters

InputVector The input vector to an array of double values, whose elements are copied to the attributes of this class.

Note: By default and and in most cases this vector equals the zero vector.

See also: SetAlternativeTargetVelocityVector(const RMLDoubleVector &InputVector); SetAlternativeTargetVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetAlternativeTargetVelocityVector(double *InputVector, const unsigned int &SizeInBytes) const

Definition at line 610 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetAlternativeTargetVelocityVectorElement	(	const double &	InputValue,
		const unsigned int &	Index
	)

inline

Sets one element of the alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ .

This vector only becomes applied for the fall back strategy when no correct output values can be calculated (e.g., due to incorrect input values.

Parameters

InputValue	The input value that is copied to the element `Index` of the maximum velocity input vector attribute of this class.
Index	The index of the element to be copied

Note: By default and and in most cases this vector equals the zero vector.

See also: SetAlternativeTargetVelocityVector(const RMLDoubleVector &InputVector); SetAlternativeTargetVelocityVector(const double *InputVector); GetAlternativeTargetVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 644 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetMaxVelocityVector ( const RMLDoubleVector & InputVector )

inline

Sets the maximum velocity vector $\vec{V}_{i}^{\,max}$ by using the an RMLDoubleVector object.

Parameters

InputVector The input vector, whose elements are copied to the attributes of this class.

See also: SetMaxVelocityVector(const double *InputVector); SetMaxVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetMaxVelocityVector(RMLDoubleVector *InputVector) const

Definition at line 191 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetMaxVelocityVector ( const double * InputVector )

inline

Sets the maximum velocity vector $\vec{V}_{i}^{\,max}$ by using a native C double array.

Parameters

InputVector The input vector to an array of double values, whose elements are copied to the attributes of this class.

See also: SetMaxVelocityVector(const RMLDoubleVector &InputVector); SetMaxVelocityVectorElement(const double &InputValue, const unsigned int &Index); GetMaxVelocityVector(double *InputVector, const unsigned int &SizeInBytes) const

Definition at line 212 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetMaxVelocityVectorElement	(	const double &	InputValue,
		const unsigned int &	Index
	)

inline

Sets one element of the maximum velocity vector $\vec{V}_{i}^{\,max}$ .

Parameters

InputValue	The input value that is copied to the element `Index` of the maximum velocity input vector attribute of this class.
Index	The index of the element to be copied

See also: SetMaxVelocityVector(const RMLDoubleVector &InputVector); SetMaxVelocityVector(const double *InputVector); GetMaxVelocityVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 237 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetTargetPositionVector ( const RMLDoubleVector & InputVector )

inline

Sets the target position vector $\vec{P}_{i}^{\,trgt}$ by using the an RMLDoubleVector object.

Parameters

InputVector The input vector, whose elements are copied to the attributes of this class.

See also: SetTargetPositionVector(const double *InputVector); SetTargetPositionVectorElement(const double &InputValue, const unsigned int &Index); GetTargetPositionVector(RMLDoubleVector *InputVector) const

Definition at line 382 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetTargetPositionVector ( const double * InputVector )

inline

Sets the target position vector $\vec{P}_{i}^{\,trgt}$ by using a native C double array.

Parameters

InputVector The input vector to an array of double values, whose elements are copied to the attributes of this class.

See also: SetTargetPositionVector(const RMLDoubleVector &InputVector); SetTargetPositionVectorElement(const double &InputValue, const unsigned int &Index); GetTargetPositionVector(double *InputVector, const unsigned int &SizeInBytes) const

Definition at line 403 of file RMLPositionInputParameters.h.

void RMLPositionInputParameters::SetTargetPositionVectorElement	(	const double &	InputValue,
		const unsigned int &	Index
	)

inline

Sets one element of the target position vector $\vec{P}_{i}^{\,trgt}$ .

Parameters

InputValue	The input value that is copied to the element `Index` of the target position input vector attribute of this class.
Index	The index of the element to be copied

See also: SetTargetPositionVector(const RMLDoubleVector &InputVector); SetTargetPositionVector(const double *InputVector); GetTargetPositionVectorElement(double *InputValue, const unsigned int &Index) const

Definition at line 428 of file RMLPositionInputParameters.h.

Member Data Documentation

RMLDoubleVector * RMLPositionInputParameters::AlternativeTargetVelocityVector

A pointer to an alternative target velocity vector $\vec{V}_{i}^{\,\underline{trgt}}$ .

This vector becomes applied in the second safety layer, which becomes activated by calling TypeIVRMLPosition::FallBackStrategy(). The second layer applies the velocity-based On-Line Trajectory Generation algorithm, and this vector is used as desired target velocity vector $\vec{V}_{i}^{\,trgt}$ . In many use cases, a target velocity vector of zero may be sufficient, but in dependence on the application it may be desirable to specify an alternative target velocity vector that becomes applied in the second safety layer (cf. TypeIVRMLVelocity). As a further alternative, the flag RMLPositionFlags::KeepCurrentVelocityInCaseOfFallbackStrategy may be used to use the current velocity vector as set-point and input value for the velocity-based On-Line Trajectory Generation algorithm.

This attribute can be accessed directly or by using one of the following methods: