Class for the output parameters of the velocity-based On-Line Trajectory Generation algorithm. More...

#include <RMLVelocityOutputParameters.h>

Inheritance diagram for RMLVelocityOutputParameters:

Public Member Functions
void	Echo (FILE *FileHandler=stdout) const
	Prints the new state of motion of the output parameters to *FileHandler. More...

void	GetPositionValuesAtTargetVelocity (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the `RMLDoubleVector` object referred to by `OutputVector`. More...

void	GetPositionValuesAtTargetVelocity (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputVector`. More...

void	GetPositionValuesAtTargetVelocityElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputValue`. More...

double	GetPositionValuesAtTargetVelocityElement (const unsigned int &Index) const
	Returns one single element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached. More...

RMLVelocityOutputParameters &	operator= (const RMLVelocityOutputParameters &OP)
	Copy operator. More...

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

	RMLVelocityOutputParameters (const RMLVelocityOutputParameters &OP)
	Copy constructor of class RMLVelocityOutputParameters. More...

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

Public Member Functions inherited from RMLOutputParameters
unsigned int	GetDOFWithTheGreatestExecutionTime (void) const
	Returns the index of the degree of freedom with the greatest trajectory execution time. More...

void	GetExecutionTimes (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the execution times for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the `RMLDoubleVector` object referred to by `OutputVector`. More...

void	GetExecutionTimes (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the execution times for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputVector`. More...

void	GetExecutionTimesElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the execution times for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputValue`. More...

double	GetExecutionTimesElement (const unsigned int &Index) const
	Returns one single element of the execution times for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached. More...

double	GetGreatestExecutionTime (void) const
	Returns the time value in seconds which is required by the degree with the greatest execution to reach its desired target velocity. More...

int	GetMotionStateAtMaxPosForOneDOF (const unsigned int &DOF, RMLDoubleVector PositionVector, RMLDoubleVector VelocityVector, RMLDoubleVector *AccelerationVector) const
	Copies the motion state, at which the position of the degree of freedom with the index `DOF` has reached its maximum, to the three referred `RMLDoubleVector` objects. More...

int	GetMotionStateAtMaxPosForOneDOF (const unsigned int &DOF, double PositionVector, double VelocityVector, double *AccelerationVector, const unsigned int &SizeInBytes) const
	Copies the motion state, at which the position of the degree of freedom with the index `DOF` has reached its maximum, to the three referred arrays of `double` values. More...

int	GetMotionStateAtMinPosForOneDOF (const unsigned int &DOF, RMLDoubleVector PositionVector, RMLDoubleVector VelocityVector, RMLDoubleVector *AccelerationVector) const
	Copies the motion state, at which the position of the degree of freedom with the index `DOF` has reached its minimum, to the three referred `RMLDoubleVector` objects. More...

int	GetMotionStateAtMinPosForOneDOF (const unsigned int &DOF, double PositionVector, double VelocityVector, double *AccelerationVector, const unsigned int &SizeInBytes) const
	Copies the motion state, at which the position of the degree of freedom with the index `DOF` has reached its minimum, to the three referred arrays of `double` values. More...

void	GetNewAccelerationVector (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the new acceleration vector $\vec{A}_{i+1}$ to the `RMLDoubleVector` object referred to by `OutputVector`. More...

void	GetNewAccelerationVector (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the new acceleration vector $\vec{A}_{i+1}$ to the memory pointed to by `OutputVector`. More...

void	GetNewAccelerationVectorElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the new selection vector $\vec{A}_{i+1}$ to the memory pointed to by `OutputValue`. More...

double	GetNewAccelerationVectorElement (const unsigned int &Index) const
	Returns one single element of the new selection vector $\vec{A}_{i+1}$ . More...

void	GetNewPositionVector (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the new position vector $\vec{P}_{i+1}$ to the `RMLDoubleVector` object referred to by `OutputVector`. More...

void	GetNewPositionVector (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the new position vector $\vec{P}_{i+1}$ to the memory pointed to by `OutputVector`. More...

void	GetNewPositionVectorElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the new selection vector $\vec{P}_{i+1}$ to the memory pointed to by `OutputValue`. More...

double	GetNewPositionVectorElement (const unsigned int &Index) const
	Returns one single element of the new selection vector $\vec{P}_{i+1}$ . More...

void	GetNewVelocityVector (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the new velocity vector $\vec{V}_{i+1}$ to the `RMLDoubleVector` object referred to by `OutputVector`. More...

void	GetNewVelocityVector (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the new velocity vector $\vec{V}_{i+1}$ to the memory pointed to by `OutputVector`. More...

void	GetNewVelocityVectorElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the new selection vector $\vec{V}_{i+1}$ to the memory pointed to by `OutputValue`. More...

double	GetNewVelocityVectorElement (const unsigned int &Index) const
	Returns one single element of the new selection vector $\vec{V}_{i+1}$ . More...

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

void	GetPositionalExtrema (RMLDoubleVector MinimumPositionVector, RMLDoubleVector MaximumPositionVector) const
	Copies two `RMLDoubleVector` objects that contain the minimum and maximum positions, which are reached until the target state of motion is reached. More...

void	GetPositionalExtrema (double MinimumPositionVector, double MaximumPositionVector, const unsigned int &SizeInBytes) const
	Copies two `RMLDoubleVector` objects that contain the minimum and maximum positions, which are reached until the target state of motion is reached. More...

double	GetSynchronizationTime (void) const
	Returns the synchronization time. More...

void	GetTimesAtMaxPosition (RMLDoubleVector *ExtremaTimes) const
	Copies the contents of a `RMLDoubleVector` object that contains the times (in seconds) at which the maximum positions are reached to the `RMLDoubleVector` object referred to by `ExtremaTimes`. More...

void	GetTimesAtMaxPosition (double *ExtremaTimes, const unsigned int &SizeInBytes) const
	Copies the array of `double` values that contain the time values (in seconds) at which the maximum positions are reached to the array of `double` values referred to by `ExtremaTimes`. More...

void	GetTimesAtMinPosition (RMLDoubleVector *ExtremaTimes) const
	Copies the contents of a `RMLDoubleVector` object that contains the times (in seconds) at which the minimum positions are reached to the `RMLDoubleVector` object referred to by `ExtremaTimes`. More...

void	GetTimesAtMinPosition (double *ExtremaTimes, const unsigned int &SizeInBytes) const
	Copies the array of `double` values that contain the time values (in seconds) at which the minimum positions are reached to the array of `double` values referred to by `ExtremaTimes`. More...

bool	IsTrajectoryPhaseSynchronized (void) const
	Indicates whether the currently calculated trajectory is phase- synchronized or only time-synchronized. More...

RMLOutputParameters &	operator= (const RMLOutputParameters &OP)
	Copy operator. More...

bool	WasACompleteComputationPerformedDuringTheLastCycle (void) const
	Indicates, whether a new computation was performed in the last cycle. More...

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

Public Attributes
RMLDoubleVector *	PositionValuesAtTargetVelocity
	A pointer to an `RMLDoubleVector` object that contains the position values at the instants the desired target velocity is reached. More...

Public Attributes inherited from RMLOutputParameters
bool	ANewCalculationWasPerformed
	Indicates, whether a new computation was performed in the last cycle. More...

unsigned int	DOFWithTheGreatestExecutionTime
	Index of the degree of freedom that requires the greatest execution time to reach its desired target velocity value. More...

RMLDoubleVector *	ExecutionTimes
	A pointer to an `RMLDoubleVector` object that contains the execution times of all selected degrees of freedom in the case non-synchronized trajectories. More...

RMLDoubleVector *	MaxExtremaTimesVector
	A pointer to an `RMLDoubleVector` object that contains the times at which each degree of freedom reaches its maximum position during the execution of the calculated trajectory. More...

RMLDoubleVector **	MaxPosExtremaAccelerationVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the acceleration vector, that will be achieved when the respective degree of freedom reaches its maximum position. More...

RMLDoubleVector **	MaxPosExtremaPositionVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the position vector, that will be achieved when the respective degree of freedom reaches its maximum position. More...

RMLDoubleVector *	MaxPosExtremaPositionVectorOnly
	A pointer to an `RMLDoubleVector` object that contains the maximum positions for all degrees of freedom that occur during the execution of the calculated trajectory. More...

RMLDoubleVector **	MaxPosExtremaVelocityVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the velocity vector, that will be achieved when the respective degree of freedom reaches its maximum position. More...

RMLDoubleVector *	MinExtremaTimesVector
	A pointer to an `RMLDoubleVector` object that contains the times at which each degree of freedom reaches its minimum position during the execution of the calculated trajectory. More...

RMLDoubleVector **	MinPosExtremaAccelerationVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the position vector, that will be achieved when the respective degree of freedom reaches its minimum position. More...

RMLDoubleVector **	MinPosExtremaPositionVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the position vector, that will be achieved when the respective degree of freedom reaches its minimum position. More...

RMLDoubleVector *	MinPosExtremaPositionVectorOnly
	A pointer to an `RMLDoubleVector` object that contains the maximum positions for all degrees of freedom that occur during the execution of the calculated trajectory. More...

RMLDoubleVector **	MinPosExtremaVelocityVectorArray
	A pointer to an array of pointers to `RMLDoubleVector` objects. The number of array elements equals the number of degrees of freedom, and each of these `RMLDOubleVector` objects consists of the same number of entries, such that it is a square matrix. A single vector contains the velocity vector, that will be achieved when the respective degree of freedom reaches its minimum position. More...

RMLDoubleVector *	NewAccelerationVector
	A pointer to the new acceleration vector $\vec{A}_{i+1}$ . More...

RMLDoubleVector *	NewPositionVector
	A pointer to the new position vector $\vec{P}_{i+1}$ . More...

RMLDoubleVector *	NewVelocityVector
	A pointer to the new velocity vector $\vec{V}_{i+1}$ . More...

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

double	SynchronizationTime
	The synchronization time $t_{i}^{\,sync}$ in seconds. More...

bool	TrajectoryIsPhaseSynchronized
	Boolean flag that indicates whether the current trajectory is phase-synchronized. More...

Additional Inherited Members
Public Types inherited from RMLOutputParameters
enum	ReturnValue { RETURN_SUCCESS = 0, RETURN_ERROR = -1 }
	Return values for the methods of the class RMLOutputParameters. More...

Protected Member Functions inherited from RMLOutputParameters
void	Echo (FILE *FileHandler=stdout) const
	Prints the new state of motion of the output parameters to *FileHandler. More...

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

	RMLOutputParameters (const RMLOutputParameters &OP)
	Copy constructor of class RMLPositionOutputParameters. More...

Detailed Description

Class for the output parameters of the velocity-based On-Line Trajectory Generation algorithm.

The class RMLVelocityOutputParameters is derived from the class RMLOutputParameters and constitutes a part of the interface for the velocity-based On-Line Trajectory Generation algorithm.

See also: ReflexxesAPI; RMLOutputParameters; RMLPositionOutputParameters; RMLVelocityInputParameters

Definition at line 73 of file RMLVelocityOutputParameters.h.

Constructor & Destructor Documentation

RMLVelocityOutputParameters::RMLVelocityOutputParameters ( const unsigned int DegreesOfFreedom )

inline

Constructor of class RMLVelocityOutputParameters.

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 91 of file RMLVelocityOutputParameters.h.

RMLVelocityOutputParameters::RMLVelocityOutputParameters ( const RMLVelocityOutputParameters & OP )

inline

Copy constructor of class RMLVelocityOutputParameters.

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

Parameters

OP	Object to be copied

Definition at line 112 of file RMLVelocityOutputParameters.h.

RMLVelocityOutputParameters::~RMLVelocityOutputParameters ( void )

inline

Destructor of class RMLVelocityOutputParameters.

Definition at line 126 of file RMLVelocityOutputParameters.h.

Member Function Documentation

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

inline

Prints the new state of motion of the output parameters to *FileHandler.

Parameters

FileHandler File handler for the output

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

Definition at line 285 of file RMLVelocityOutputParameters.h.

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocity ( RMLDoubleVector * OutputVector ) const

inline

Copies the contents of the RMLDoubleVector object containing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the RMLDoubleVector object referred to by OutputVector.

Parameters

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

See also: GetPositionValuesAtTargetVelocity(double *OutputVector, const unsigned int &SizeInBytes) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

Definition at line 172 of file RMLVelocityOutputParameters.h.

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocity	(	double *	OutputVector,
		const unsigned int &	SizeInBytes
	)		const

inline

Copies the array of double values representing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by OutputVector.

Parameters

OutputVector	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 `OutputVector`. 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: GetPositionValuesAtTargetVelocity(RMLDoubleVector *OutputVector) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

Definition at line 202 of file RMLVelocityOutputParameters.h.

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocityElement	(	double *	OutputValue,
		const unsigned int &	Index
	)		const

inline

Copies one element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by OutputValue.

Parameters

OutputValue	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 `OutputValue`.

See also: GetPositionValuesAtTargetVelocity(RMLDoubleVector *OutputVector) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const; GetPositionValuesAtTargetVelocityElement(const unsigned int &Index) const

Definition at line 233 of file RMLVelocityOutputParameters.h.

double RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocityElement ( const unsigned int & Index ) const

inline

Returns one single element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached.

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 OutputValue.

See also: GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

Definition at line 263 of file RMLVelocityOutputParameters.h.

RMLVelocityOutputParameters & RMLVelocityOutputParameters::operator= ( const RMLVelocityOutputParameters & OP )

inline

Copy operator.

Parameters

OP	RMLVelocityOutputParameters object to be copied

Definition at line 143 of file RMLVelocityOutputParameters.h.

Member Data Documentation

RMLDoubleVector * RMLVelocityOutputParameters::PositionValuesAtTargetVelocity

A pointer to an RMLDoubleVector object that contains the position values at the instants the desired target velocity is reached.

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

Definition at line 322 of file RMLVelocityOutputParameters.h.

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

RMLVelocityOutputParameters.h

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation