Diff: Motion.h

Revision:

0:02dd72d1d465

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Motion.h	Tue Apr 24 11:45:18 2018 +0000
@@ -0,0 +1,61 @@
+/*
+ * Motion.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef MOTION_H_
+#define MOTION_H_
+
+#include <cstdlib>
+
+/**
+ * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
+ * offers methods to increment these values towards a desired target position or velocity.
+ * <br/>
+ * To increment the current motion values, this class uses a simple 2nd order motion planner.
+ * This planner calculates the motion to the target position or velocity with the various motion
+ * phases, based on given limits for the profile velocity, acceleration and deceleration.
+ * <br/>
+ * Note that the trajectory is calculated every time the motion state is incremented.
+ * This allows to change the target position or velocity, as well as the limits for profile
+ * velocity, acceleration and deceleration at any time.
+ */
+class Motion {
+    
+    public:
+        
+        double      position;       /**< The position value of this motion, given in [m] or [rad]. */
+        float       velocity;       /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
+        
+                    Motion();
+                    Motion(double position, float velocity);
+                    Motion(const Motion& motion);
+        virtual     ~Motion();
+        void        set(double position, float velocity);
+        void        set(const Motion& motion);
+        void        setPosition(double position);
+        double      getPosition();
+        void        setVelocity(float velocity);
+        float       getVelocity();
+        void        setProfileVelocity(float profileVelocity);
+        void        setProfileAcceleration(float profileAcceleration);
+        void        setProfileDeceleration(float profileDeceleration);
+        void        setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
+        float       getTimeToPosition(double targetPosition);
+        void        incrementToVelocity(float targetVelocity, float period);
+        void        incrementToPosition(double targetPosition, float period);
+        
+    private:
+        
+        static const float  DEFAULT_LIMIT;  // default value for limits
+        static const float  MINIMUM_LIMIT;  // smallest value allowed for limits
+        
+        float       profileVelocity;
+        float       profileAcceleration;
+        float       profileDeceleration;
+};
+
+#endif /* MOTION_H_ */
+
+