Public Member Functions | Private Member Functions | Private Attributes | List of all members
youbot::JointLimitMonitor Class Reference

It monitors the joint position and will decelerate and stop the joint if it is close the limits. More...

#include <JointLimitMonitor.hpp>

Public Member Functions

void checkLimitsEncoderPosition (const signed int &setpoint)
void checkLimitsPositionControl (const quantity< plane_angle > &setpoint)
void checkLimitsProcessData (const SlaveMessageInput &messageInput, SlaveMessageOutput &messageOutput)
 JointLimitMonitor (const YouBotJointStorage &jointParameters, const quantity< angular_acceleration > &jointAcceleration)
 JointLimitMonitor (const JointLimitMonitor &source)
JointLimitMonitoroperator= (const JointLimitMonitor &source)
virtual ~JointLimitMonitor ()

Private Member Functions

void calculateBrakingDistance (const SlaveMessageInput &messageInput)
int calculateBrakingVelocity (const int actualPosition)
double calculateDamping (const int actualPosition)

Private Attributes

double acceleration
double actualVelocityRPS
int bevorLowerLimit
int bevorUpperLimit
int brakingDistance
double distanceToLimit
bool isbraking
double newVelocity
YouBotJointStorage storage
int velocityWhenReachedLimit

Detailed Description

It monitors the joint position and will decelerate and stop the joint if it is close the limits.

Definition at line 65 of file JointLimitMonitor.hpp.

Constructor & Destructor Documentation

youbot::JointLimitMonitor::JointLimitMonitor ( const YouBotJointStorage jointParameters,
const quantity< angular_acceleration > &  jointAcceleration 

Definition at line 54 of file JointLimitMonitor.cpp.

youbot::JointLimitMonitor::~JointLimitMonitor ( )

Definition at line 67 of file JointLimitMonitor.cpp.

youbot::JointLimitMonitor::JointLimitMonitor ( const JointLimitMonitor source)

Definition at line 72 of file JointLimitMonitor.cpp.

Member Function Documentation

void youbot::JointLimitMonitor::calculateBrakingDistance ( const SlaveMessageInput messageInput)

Definition at line 197 of file JointLimitMonitor.cpp.

int youbot::JointLimitMonitor::calculateBrakingVelocity ( const int  actualPosition)

Definition at line 209 of file JointLimitMonitor.cpp.

double youbot::JointLimitMonitor::calculateDamping ( const int  actualPosition)

Definition at line 178 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsEncoderPosition ( const signed int &  setpoint)

Definition at line 114 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsPositionControl ( const quantity< plane_angle > &  setpoint)

Definition at line 85 of file JointLimitMonitor.cpp.

void youbot::JointLimitMonitor::checkLimitsProcessData ( const SlaveMessageInput messageInput,
SlaveMessageOutput messageOutput 

Definition at line 133 of file JointLimitMonitor.cpp.

JointLimitMonitor & youbot::JointLimitMonitor::operator= ( const JointLimitMonitor source)

Definition at line 78 of file JointLimitMonitor.cpp.

Member Data Documentation

double youbot::JointLimitMonitor::acceleration

Definition at line 91 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::actualVelocityRPS

Definition at line 99 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::bevorLowerLimit

Definition at line 93 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::bevorUpperLimit

Definition at line 95 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::brakingDistance

Definition at line 97 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::distanceToLimit

Definition at line 105 of file JointLimitMonitor.hpp.

bool youbot::JointLimitMonitor::isbraking

Definition at line 101 of file JointLimitMonitor.hpp.

double youbot::JointLimitMonitor::newVelocity

Definition at line 107 of file JointLimitMonitor.hpp.

YouBotJointStorage youbot::JointLimitMonitor::storage

Definition at line 89 of file JointLimitMonitor.hpp.

int youbot::JointLimitMonitor::velocityWhenReachedLimit

Definition at line 103 of file JointLimitMonitor.hpp.

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

Author(s): Jan Paulus
autogenerated on Mon Jun 10 2019 15:46:27