BA / Mbed OS BaBoRo_test2

Backup 1

Motion.cpp@0:02dd72d1d465, 2018-04-24 (annotated)

Committer:
borlanic
Date:
Tue Apr 24 11:45:18 2018 +0000
Revision:
0:02dd72d1d465
BaBoRo_test2 - backup 1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
borlanic 0:02dd72d1d465 1 /*
borlanic 0:02dd72d1d465 2 * Motion.cpp
borlanic 0:02dd72d1d465 3 * Copyright (c) 2018, ZHAW
borlanic 0:02dd72d1d465 4 * All rights reserved.
borlanic 0:02dd72d1d465 5 */
borlanic 0:02dd72d1d465 6
borlanic 0:02dd72d1d465 7 #include <cmath>
borlanic 0:02dd72d1d465 8 #include <algorithm>
borlanic 0:02dd72d1d465 9 #include "Motion.h"
borlanic 0:02dd72d1d465 10
borlanic 0:02dd72d1d465 11 using namespace std;
borlanic 0:02dd72d1d465 12
borlanic 0:02dd72d1d465 13 const float Motion::DEFAULT_LIMIT = 1.0f; // default value for limits
borlanic 0:02dd72d1d465 14 const float Motion::MINIMUM_LIMIT = 1.0e-9f; // smallest value allowed for limits
borlanic 0:02dd72d1d465 15
borlanic 0:02dd72d1d465 16 /**
borlanic 0:02dd72d1d465 17 * Creates a <code>Motion</code> object.
borlanic 0:02dd72d1d465 18 * The values for position, velocity and acceleration are set to 0.
borlanic 0:02dd72d1d465 19 */
borlanic 0:02dd72d1d465 20 Motion::Motion() {
borlanic 0:02dd72d1d465 21
borlanic 0:02dd72d1d465 22 position = 0.0;
borlanic 0:02dd72d1d465 23 velocity = 0.0f;
borlanic 0:02dd72d1d465 24
borlanic 0:02dd72d1d465 25 profileVelocity = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 26 profileAcceleration = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 27 profileDeceleration = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 28 }
borlanic 0:02dd72d1d465 29
borlanic 0:02dd72d1d465 30 /**
borlanic 0:02dd72d1d465 31 * Creates a <code>Motion</code> object with given values for position and velocity.
borlanic 0:02dd72d1d465 32 * @param position the initial position value of this motion, given in [m] or [rad].
borlanic 0:02dd72d1d465 33 * @param velocity the initial velocity value of this motion, given in [m/s] or [rad/s].
borlanic 0:02dd72d1d465 34 */
borlanic 0:02dd72d1d465 35 Motion::Motion(double position, float velocity) {
borlanic 0:02dd72d1d465 36
borlanic 0:02dd72d1d465 37 this->position = position;
borlanic 0:02dd72d1d465 38 this->velocity = velocity;
borlanic 0:02dd72d1d465 39
borlanic 0:02dd72d1d465 40 profileVelocity = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 41 profileAcceleration = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 42 profileDeceleration = DEFAULT_LIMIT;
borlanic 0:02dd72d1d465 43 }
borlanic 0:02dd72d1d465 44
borlanic 0:02dd72d1d465 45 /**
borlanic 0:02dd72d1d465 46 * Creates a <code>Motion</code> object with given values for position and velocity.
borlanic 0:02dd72d1d465 47 * @param motion another <code>Motion</code> object to copy the values from.
borlanic 0:02dd72d1d465 48 */
borlanic 0:02dd72d1d465 49 Motion::Motion(const Motion& motion) {
borlanic 0:02dd72d1d465 50
borlanic 0:02dd72d1d465 51 position = motion.position;
borlanic 0:02dd72d1d465 52 velocity = motion.velocity;
borlanic 0:02dd72d1d465 53
borlanic 0:02dd72d1d465 54 profileVelocity = motion.profileVelocity;
borlanic 0:02dd72d1d465 55 profileAcceleration = motion.profileAcceleration;
borlanic 0:02dd72d1d465 56 profileDeceleration = motion.profileDeceleration;
borlanic 0:02dd72d1d465 57 }
borlanic 0:02dd72d1d465 58
borlanic 0:02dd72d1d465 59 /**
borlanic 0:02dd72d1d465 60 * Deletes the Motion object.
borlanic 0:02dd72d1d465 61 */
borlanic 0:02dd72d1d465 62 Motion::~Motion() {}
borlanic 0:02dd72d1d465 63
borlanic 0:02dd72d1d465 64 /**
borlanic 0:02dd72d1d465 65 * Sets the values for position and velocity.
borlanic 0:02dd72d1d465 66 * @param position the desired position value of this motion, given in [m] or [rad].
borlanic 0:02dd72d1d465 67 * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
borlanic 0:02dd72d1d465 68 */
borlanic 0:02dd72d1d465 69 void Motion::set(double position, float velocity) {
borlanic 0:02dd72d1d465 70
borlanic 0:02dd72d1d465 71 this->position = position;
borlanic 0:02dd72d1d465 72 this->velocity = velocity;
borlanic 0:02dd72d1d465 73 }
borlanic 0:02dd72d1d465 74
borlanic 0:02dd72d1d465 75 /**
borlanic 0:02dd72d1d465 76 * Sets the values for position and velocity.
borlanic 0:02dd72d1d465 77 * @param motion another <code>Motion</code> object to copy the values from.
borlanic 0:02dd72d1d465 78 */
borlanic 0:02dd72d1d465 79 void Motion::set(const Motion& motion) {
borlanic 0:02dd72d1d465 80
borlanic 0:02dd72d1d465 81 position = motion.position;
borlanic 0:02dd72d1d465 82 velocity = motion.velocity;
borlanic 0:02dd72d1d465 83 }
borlanic 0:02dd72d1d465 84
borlanic 0:02dd72d1d465 85 /**
borlanic 0:02dd72d1d465 86 * Sets the position value.
borlanic 0:02dd72d1d465 87 * @param position the desired position value of this motion, given in [m] or [rad].
borlanic 0:02dd72d1d465 88 */
borlanic 0:02dd72d1d465 89 void Motion::setPosition(double position) {
borlanic 0:02dd72d1d465 90
borlanic 0:02dd72d1d465 91 this->position = position;
borlanic 0:02dd72d1d465 92 }
borlanic 0:02dd72d1d465 93
borlanic 0:02dd72d1d465 94 /**
borlanic 0:02dd72d1d465 95 * Gets the position value.
borlanic 0:02dd72d1d465 96 * @return the position value of this motion, given in [m] or [rad].
borlanic 0:02dd72d1d465 97 */
borlanic 0:02dd72d1d465 98 double Motion::getPosition() {
borlanic 0:02dd72d1d465 99
borlanic 0:02dd72d1d465 100 return position;
borlanic 0:02dd72d1d465 101 }
borlanic 0:02dd72d1d465 102
borlanic 0:02dd72d1d465 103 /**
borlanic 0:02dd72d1d465 104 * Sets the velocity value.
borlanic 0:02dd72d1d465 105 * @param velocity the desired velocity value of this motion, given in [m/s] or [rad/s].
borlanic 0:02dd72d1d465 106 */
borlanic 0:02dd72d1d465 107 void Motion::setVelocity(float velocity) {
borlanic 0:02dd72d1d465 108
borlanic 0:02dd72d1d465 109 this->velocity = velocity;
borlanic 0:02dd72d1d465 110 }
borlanic 0:02dd72d1d465 111
borlanic 0:02dd72d1d465 112 /**
borlanic 0:02dd72d1d465 113 * Gets the velocity value.
borlanic 0:02dd72d1d465 114 * @return the velocity value of this motion, given in [m/s] or [rad/s].
borlanic 0:02dd72d1d465 115 */
borlanic 0:02dd72d1d465 116 float Motion::getVelocity() {
borlanic 0:02dd72d1d465 117
borlanic 0:02dd72d1d465 118 return velocity;
borlanic 0:02dd72d1d465 119 }
borlanic 0:02dd72d1d465 120
borlanic 0:02dd72d1d465 121 /**
borlanic 0:02dd72d1d465 122 * Sets the limit for the velocity value.
borlanic 0:02dd72d1d465 123 * @param profileVelocity the limit of the velocity.
borlanic 0:02dd72d1d465 124 */
borlanic 0:02dd72d1d465 125 void Motion::setProfileVelocity(float profileVelocity) {
borlanic 0:02dd72d1d465 126
borlanic 0:02dd72d1d465 127 if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 128 }
borlanic 0:02dd72d1d465 129
borlanic 0:02dd72d1d465 130 /**
borlanic 0:02dd72d1d465 131 * Sets the limit for the acceleration value.
borlanic 0:02dd72d1d465 132 * @param profileAcceleration the limit of the acceleration.
borlanic 0:02dd72d1d465 133 */
borlanic 0:02dd72d1d465 134 void Motion::setProfileAcceleration(float profileAcceleration) {
borlanic 0:02dd72d1d465 135
borlanic 0:02dd72d1d465 136 if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 137 }
borlanic 0:02dd72d1d465 138
borlanic 0:02dd72d1d465 139 /**
borlanic 0:02dd72d1d465 140 * Sets the limit for the deceleration value.
borlanic 0:02dd72d1d465 141 * @param profileDeceleration the limit of the deceleration.
borlanic 0:02dd72d1d465 142 */
borlanic 0:02dd72d1d465 143 void Motion::setProfileDeceleration(float profileDeceleration) {
borlanic 0:02dd72d1d465 144
borlanic 0:02dd72d1d465 145 if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 146 }
borlanic 0:02dd72d1d465 147
borlanic 0:02dd72d1d465 148 /**
borlanic 0:02dd72d1d465 149 * Sets the limits for velocity, acceleration and deceleration values.
borlanic 0:02dd72d1d465 150 * @param profileVelocity the limit of the velocity.
borlanic 0:02dd72d1d465 151 * @param profileAcceleration the limit of the acceleration.
borlanic 0:02dd72d1d465 152 * @param profileDeceleration the limit of the deceleration.
borlanic 0:02dd72d1d465 153 */
borlanic 0:02dd72d1d465 154 void Motion::setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration) {
borlanic 0:02dd72d1d465 155
borlanic 0:02dd72d1d465 156 if (profileVelocity > MINIMUM_LIMIT) this->profileVelocity = profileVelocity; else this->profileVelocity = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 157 if (profileAcceleration > MINIMUM_LIMIT) this->profileAcceleration = profileAcceleration; else this->profileAcceleration = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 158 if (profileDeceleration > MINIMUM_LIMIT) this->profileDeceleration = profileDeceleration; else this->profileDeceleration = MINIMUM_LIMIT;
borlanic 0:02dd72d1d465 159 }
borlanic 0:02dd72d1d465 160
borlanic 0:02dd72d1d465 161 /**
borlanic 0:02dd72d1d465 162 * Gets the time needed to move to a given target position.
borlanic 0:02dd72d1d465 163 * @param targetPosition the desired target position given in [m] or [rad].
borlanic 0:02dd72d1d465 164 * @return the time to move to the target position, given in [s].
borlanic 0:02dd72d1d465 165 */
borlanic 0:02dd72d1d465 166 float Motion::getTimeToPosition(double targetPosition) {
borlanic 0:02dd72d1d465 167
borlanic 0:02dd72d1d465 168 // calculate position, when velocity is reduced to zero
borlanic 0:02dd72d1d465 169
borlanic 0:02dd72d1d465 170 double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
borlanic 0:02dd72d1d465 171
borlanic 0:02dd72d1d465 172 if (targetPosition > stopPosition) { // positive velocity required
borlanic 0:02dd72d1d465 173
borlanic 0:02dd72d1d465 174 if (velocity > profileVelocity) { // slow down to profile velocity first
borlanic 0:02dd72d1d465 175
borlanic 0:02dd72d1d465 176 float t1 = (velocity-profileVelocity)/profileDeceleration;
borlanic 0:02dd72d1d465 177 float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
borlanic 0:02dd72d1d465 178 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 179
borlanic 0:02dd72d1d465 180 return t1+t2+t3;
borlanic 0:02dd72d1d465 181
borlanic 0:02dd72d1d465 182 } else if (velocity > 0.0f) { // speed up to profile velocity
borlanic 0:02dd72d1d465 183
borlanic 0:02dd72d1d465 184 float t1 = (profileVelocity-velocity)/profileAcceleration;
borlanic 0:02dd72d1d465 185 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 186 float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
borlanic 0:02dd72d1d465 187
borlanic 0:02dd72d1d465 188 if (t2 < 0.0f) {
borlanic 0:02dd72d1d465 189 float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 190 t1 = (maxVelocity-velocity)/profileAcceleration;
borlanic 0:02dd72d1d465 191 t2 = 0.0f;
borlanic 0:02dd72d1d465 192 t3 = maxVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 193 }
borlanic 0:02dd72d1d465 194
borlanic 0:02dd72d1d465 195 return t1+t2+t3;
borlanic 0:02dd72d1d465 196
borlanic 0:02dd72d1d465 197 } else { // slow down to zero first, and then speed up to profile velocity
borlanic 0:02dd72d1d465 198
borlanic 0:02dd72d1d465 199 float t1 = -velocity/profileDeceleration;
borlanic 0:02dd72d1d465 200 float t2 = profileVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 201 float t4 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 202 float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
borlanic 0:02dd72d1d465 203
borlanic 0:02dd72d1d465 204 if (t3 < 0.0f) {
borlanic 0:02dd72d1d465 205 float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 206 t2 = maxVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 207 t3 = 0.0f;
borlanic 0:02dd72d1d465 208 t4 = maxVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 209 }
borlanic 0:02dd72d1d465 210
borlanic 0:02dd72d1d465 211 return t1+t2+t3+t4;
borlanic 0:02dd72d1d465 212 }
borlanic 0:02dd72d1d465 213
borlanic 0:02dd72d1d465 214 } else { // negative velocity required
borlanic 0:02dd72d1d465 215
borlanic 0:02dd72d1d465 216 if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
borlanic 0:02dd72d1d465 217
borlanic 0:02dd72d1d465 218 float t1 = (-profileVelocity-velocity)/profileDeceleration;
borlanic 0:02dd72d1d465 219 float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
borlanic 0:02dd72d1d465 220 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 221
borlanic 0:02dd72d1d465 222 return t1+t2+t3;
borlanic 0:02dd72d1d465 223
borlanic 0:02dd72d1d465 224 } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
borlanic 0:02dd72d1d465 225
borlanic 0:02dd72d1d465 226 float t1 = (velocity+profileVelocity)/profileAcceleration;
borlanic 0:02dd72d1d465 227 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 228 float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
borlanic 0:02dd72d1d465 229
borlanic 0:02dd72d1d465 230 if (t2 < 0.0f) {
borlanic 0:02dd72d1d465 231 float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 232 t1 = (velocity-minVelocity)/profileAcceleration;
borlanic 0:02dd72d1d465 233 t2 = 0.0f;
borlanic 0:02dd72d1d465 234 t3 = -minVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 235 }
borlanic 0:02dd72d1d465 236
borlanic 0:02dd72d1d465 237 return t1+t2+t3;
borlanic 0:02dd72d1d465 238
borlanic 0:02dd72d1d465 239 } else { // slow down to zero first, and then speed up to (negative) profile velocity
borlanic 0:02dd72d1d465 240
borlanic 0:02dd72d1d465 241 float t1 = velocity/profileDeceleration;
borlanic 0:02dd72d1d465 242 float t2 = profileVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 243 float t4 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 244 float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
borlanic 0:02dd72d1d465 245
borlanic 0:02dd72d1d465 246 if (t3 < 0.0f) {
borlanic 0:02dd72d1d465 247 float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 248 t2 = -minVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 249 t3 = 0.0f;
borlanic 0:02dd72d1d465 250 t4 = -minVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 251 }
borlanic 0:02dd72d1d465 252
borlanic 0:02dd72d1d465 253 return t1+t2+t3+t4;
borlanic 0:02dd72d1d465 254 }
borlanic 0:02dd72d1d465 255 }
borlanic 0:02dd72d1d465 256 }
borlanic 0:02dd72d1d465 257
borlanic 0:02dd72d1d465 258 /**
borlanic 0:02dd72d1d465 259 * Increments the current motion towards a given target velocity.
borlanic 0:02dd72d1d465 260 * @param targetVelocity the desired target velocity given in [m/s] or [rad/s].
borlanic 0:02dd72d1d465 261 * @param period the time period to increment the motion values for, given in [s].
borlanic 0:02dd72d1d465 262 */
borlanic 0:02dd72d1d465 263 void Motion::incrementToVelocity(float targetVelocity, float period) {
borlanic 0:02dd72d1d465 264
borlanic 0:02dd72d1d465 265 if (targetVelocity < -profileVelocity) targetVelocity = -profileVelocity;
borlanic 0:02dd72d1d465 266 else if (targetVelocity > profileVelocity) targetVelocity = profileVelocity;
borlanic 0:02dd72d1d465 267
borlanic 0:02dd72d1d465 268 if (targetVelocity > 0.0f) {
borlanic 0:02dd72d1d465 269
borlanic 0:02dd72d1d465 270 if (velocity > targetVelocity) { // slow down to target velocity
borlanic 0:02dd72d1d465 271
borlanic 0:02dd72d1d465 272 float t1 = (velocity-targetVelocity)/profileDeceleration;
borlanic 0:02dd72d1d465 273
borlanic 0:02dd72d1d465 274 if (t1 > period) {
borlanic 0:02dd72d1d465 275 position += (double)((velocity-profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 276 velocity += -profileDeceleration*period;
borlanic 0:02dd72d1d465 277 } else {
borlanic 0:02dd72d1d465 278 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 279 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 280 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 281 }
borlanic 0:02dd72d1d465 282
borlanic 0:02dd72d1d465 283 } else if (velocity > 0.0f) { // speed up to target velocity
borlanic 0:02dd72d1d465 284
borlanic 0:02dd72d1d465 285 float t1 = (targetVelocity-velocity)/profileAcceleration;
borlanic 0:02dd72d1d465 286
borlanic 0:02dd72d1d465 287 if (t1 > period) {
borlanic 0:02dd72d1d465 288 position += (double)((velocity+profileAcceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 289 velocity += profileAcceleration*period;
borlanic 0:02dd72d1d465 290 } else {
borlanic 0:02dd72d1d465 291 position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 292 velocity += profileAcceleration*t1;
borlanic 0:02dd72d1d465 293 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 294 }
borlanic 0:02dd72d1d465 295
borlanic 0:02dd72d1d465 296 } else { // slow down to zero first, and then speed up to target velocity
borlanic 0:02dd72d1d465 297
borlanic 0:02dd72d1d465 298 float t1 = -velocity/profileDeceleration;
borlanic 0:02dd72d1d465 299 float t2 = targetVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 300
borlanic 0:02dd72d1d465 301 if (t1 > period) {
borlanic 0:02dd72d1d465 302 position += (double)((velocity+profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 303 velocity += profileDeceleration*period;
borlanic 0:02dd72d1d465 304 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 305 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 306 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 307 position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
borlanic 0:02dd72d1d465 308 velocity += profileAcceleration*(period-t1);
borlanic 0:02dd72d1d465 309 } else {
borlanic 0:02dd72d1d465 310 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 311 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 312 position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 313 velocity += profileAcceleration*t2;
borlanic 0:02dd72d1d465 314 position += (double)(velocity*(period-t1-t2));
borlanic 0:02dd72d1d465 315 }
borlanic 0:02dd72d1d465 316 }
borlanic 0:02dd72d1d465 317
borlanic 0:02dd72d1d465 318 } else {
borlanic 0:02dd72d1d465 319
borlanic 0:02dd72d1d465 320 if (velocity < targetVelocity) { // slow down to (negative) target velocity
borlanic 0:02dd72d1d465 321
borlanic 0:02dd72d1d465 322 float t1 = (targetVelocity-velocity)/profileDeceleration;
borlanic 0:02dd72d1d465 323
borlanic 0:02dd72d1d465 324 if (t1 > period) {
borlanic 0:02dd72d1d465 325 position += (double)((velocity+profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 326 velocity += profileDeceleration*period;
borlanic 0:02dd72d1d465 327 } else {
borlanic 0:02dd72d1d465 328 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 329 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 330 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 331 }
borlanic 0:02dd72d1d465 332
borlanic 0:02dd72d1d465 333 } else if (velocity < 0.0f) { // speed up to (negative) target velocity
borlanic 0:02dd72d1d465 334
borlanic 0:02dd72d1d465 335 float t1 = (velocity-targetVelocity)/profileAcceleration;
borlanic 0:02dd72d1d465 336
borlanic 0:02dd72d1d465 337 if (t1 > period) {
borlanic 0:02dd72d1d465 338 position += (double)((velocity-profileAcceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 339 velocity += -profileAcceleration*period;
borlanic 0:02dd72d1d465 340 } else {
borlanic 0:02dd72d1d465 341 position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 342 velocity += -profileAcceleration*t1;
borlanic 0:02dd72d1d465 343 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 344 }
borlanic 0:02dd72d1d465 345
borlanic 0:02dd72d1d465 346 } else { // slow down to zero first, and then speed up to (negative) target velocity
borlanic 0:02dd72d1d465 347
borlanic 0:02dd72d1d465 348 float t1 = velocity/profileDeceleration;
borlanic 0:02dd72d1d465 349 float t2 = -targetVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 350
borlanic 0:02dd72d1d465 351 if (t1 > period) {
borlanic 0:02dd72d1d465 352 position += (double)((velocity-profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 353 velocity += -profileDeceleration*period;
borlanic 0:02dd72d1d465 354 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 355 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 356 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 357 position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
borlanic 0:02dd72d1d465 358 velocity += -profileAcceleration*(period-t1);
borlanic 0:02dd72d1d465 359 } else {
borlanic 0:02dd72d1d465 360 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 361 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 362 position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 363 velocity += -profileAcceleration*t2;
borlanic 0:02dd72d1d465 364 position += (double)(velocity*(period-t1-t2));
borlanic 0:02dd72d1d465 365 }
borlanic 0:02dd72d1d465 366 }
borlanic 0:02dd72d1d465 367 }
borlanic 0:02dd72d1d465 368 }
borlanic 0:02dd72d1d465 369
borlanic 0:02dd72d1d465 370 /**
borlanic 0:02dd72d1d465 371 * Increments the current motion towards a given target position.
borlanic 0:02dd72d1d465 372 * @param targetPosition the desired target position given in [m] or [rad].
borlanic 0:02dd72d1d465 373 * @param period the time period to increment the motion values for, given in [s].
borlanic 0:02dd72d1d465 374 */
borlanic 0:02dd72d1d465 375 void Motion::incrementToPosition(double targetPosition, float period) {
borlanic 0:02dd72d1d465 376
borlanic 0:02dd72d1d465 377 // calculate position, when velocity is reduced to zero
borlanic 0:02dd72d1d465 378
borlanic 0:02dd72d1d465 379 double stopPosition = (velocity > 0.0f) ? position+(double)(velocity*velocity/profileDeceleration*0.5f) : position-(double)(velocity*velocity/profileDeceleration*0.5f);
borlanic 0:02dd72d1d465 380
borlanic 0:02dd72d1d465 381 if (targetPosition > stopPosition) { // positive velocity required
borlanic 0:02dd72d1d465 382
borlanic 0:02dd72d1d465 383 if (velocity > profileVelocity) { // slow down to profile velocity first
borlanic 0:02dd72d1d465 384
borlanic 0:02dd72d1d465 385 float t1 = (velocity-profileVelocity)/profileDeceleration;
borlanic 0:02dd72d1d465 386 float t2 = (float)(targetPosition-stopPosition)/profileVelocity;
borlanic 0:02dd72d1d465 387 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 388
borlanic 0:02dd72d1d465 389 if (t1 > period) {
borlanic 0:02dd72d1d465 390 position += (double)((velocity-profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 391 velocity += -profileDeceleration*period;
borlanic 0:02dd72d1d465 392 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 393 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 394 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 395 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 396 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 397 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 398 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 399 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 400 position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
borlanic 0:02dd72d1d465 401 velocity += -profileDeceleration*(period-t1-t2);
borlanic 0:02dd72d1d465 402 } else {
borlanic 0:02dd72d1d465 403 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 404 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 405 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 406 position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
borlanic 0:02dd72d1d465 407 velocity += -profileDeceleration*t3;
borlanic 0:02dd72d1d465 408 }
borlanic 0:02dd72d1d465 409
borlanic 0:02dd72d1d465 410 } else if (velocity > 0.0f) { // speed up to profile velocity
borlanic 0:02dd72d1d465 411
borlanic 0:02dd72d1d465 412 float t1 = (profileVelocity-velocity)/profileAcceleration;
borlanic 0:02dd72d1d465 413 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 414 float t2 = ((float)(targetPosition-position)-(velocity+profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
borlanic 0:02dd72d1d465 415
borlanic 0:02dd72d1d465 416 if (t2 < 0.0f) {
borlanic 0:02dd72d1d465 417 float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 418 t1 = (maxVelocity-velocity)/profileAcceleration;
borlanic 0:02dd72d1d465 419 t2 = 0.0f;
borlanic 0:02dd72d1d465 420 t3 = maxVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 421 }
borlanic 0:02dd72d1d465 422
borlanic 0:02dd72d1d465 423 if (t1 > period) {
borlanic 0:02dd72d1d465 424 position += (double)((velocity+profileAcceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 425 velocity += profileAcceleration*period;
borlanic 0:02dd72d1d465 426 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 427 position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 428 velocity += profileAcceleration*t1;
borlanic 0:02dd72d1d465 429 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 430 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 431 position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 432 velocity += profileAcceleration*t1;
borlanic 0:02dd72d1d465 433 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 434 position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
borlanic 0:02dd72d1d465 435 velocity += -profileDeceleration*(period-t1-t2);
borlanic 0:02dd72d1d465 436 } else {
borlanic 0:02dd72d1d465 437 position += (double)((velocity+profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 438 velocity += profileAcceleration*t1;
borlanic 0:02dd72d1d465 439 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 440 position += (double)((velocity-profileDeceleration*0.5f*t3)*t3);
borlanic 0:02dd72d1d465 441 velocity += -profileDeceleration*t3;
borlanic 0:02dd72d1d465 442 }
borlanic 0:02dd72d1d465 443
borlanic 0:02dd72d1d465 444 } else { // slow down to zero first, and then speed up to profile velocity
borlanic 0:02dd72d1d465 445
borlanic 0:02dd72d1d465 446 float t1 = -velocity/profileDeceleration;
borlanic 0:02dd72d1d465 447 float t2 = profileVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 448 float t4 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 449 float t3 = ((float)(targetPosition-position)-velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
borlanic 0:02dd72d1d465 450
borlanic 0:02dd72d1d465 451 if (t3 < 0.0f) {
borlanic 0:02dd72d1d465 452 float maxVelocity = sqrt((2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 453 t2 = maxVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 454 t3 = 0.0f;
borlanic 0:02dd72d1d465 455 t4 = maxVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 456 }
borlanic 0:02dd72d1d465 457
borlanic 0:02dd72d1d465 458 if (t1 > period) {
borlanic 0:02dd72d1d465 459 position += (double)((velocity+profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 460 velocity += profileDeceleration*period;
borlanic 0:02dd72d1d465 461 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 462 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 463 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 464 position += (double)((velocity+profileAcceleration*0.5f*(period-t1))*(period-t1));
borlanic 0:02dd72d1d465 465 velocity += profileAcceleration*(period-t1);
borlanic 0:02dd72d1d465 466 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 467 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 468 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 469 position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 470 velocity += profileAcceleration*t2;
borlanic 0:02dd72d1d465 471 position += (double)(velocity*(period-t1-t2));
borlanic 0:02dd72d1d465 472 } else if (t1+t2+t3+t4 > period) {
borlanic 0:02dd72d1d465 473 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 474 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 475 position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 476 velocity += profileAcceleration*t2;
borlanic 0:02dd72d1d465 477 position += (double)(velocity*t3);
borlanic 0:02dd72d1d465 478 position += (double)((velocity-profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
borlanic 0:02dd72d1d465 479 velocity += -profileDeceleration*(period-t1-t2-t3);
borlanic 0:02dd72d1d465 480 } else {
borlanic 0:02dd72d1d465 481 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 482 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 483 position += (double)((velocity+profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 484 velocity += profileAcceleration*t2;
borlanic 0:02dd72d1d465 485 position += (double)(velocity*t3);
borlanic 0:02dd72d1d465 486 position += (double)((velocity-profileDeceleration*0.5f*t4)*t4);
borlanic 0:02dd72d1d465 487 velocity += -profileDeceleration*t4;
borlanic 0:02dd72d1d465 488 }
borlanic 0:02dd72d1d465 489 }
borlanic 0:02dd72d1d465 490
borlanic 0:02dd72d1d465 491 } else { // negative velocity required
borlanic 0:02dd72d1d465 492
borlanic 0:02dd72d1d465 493 if (velocity < -profileVelocity) { // slow down to (negative) profile velocity first
borlanic 0:02dd72d1d465 494
borlanic 0:02dd72d1d465 495 float t1 = (-profileVelocity-velocity)/profileDeceleration;
borlanic 0:02dd72d1d465 496 float t2 = (float)(stopPosition-targetPosition)/profileVelocity;
borlanic 0:02dd72d1d465 497 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 498
borlanic 0:02dd72d1d465 499 if (t1 > period) {
borlanic 0:02dd72d1d465 500 position += (double)((velocity+profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 501 velocity += profileDeceleration*period;
borlanic 0:02dd72d1d465 502 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 503 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 504 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 505 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 506 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 507 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 508 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 509 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 510 position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
borlanic 0:02dd72d1d465 511 velocity += profileDeceleration*(period-t1-t2);
borlanic 0:02dd72d1d465 512 } else {
borlanic 0:02dd72d1d465 513 position += (double)((velocity+profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 514 velocity += profileDeceleration*t1;
borlanic 0:02dd72d1d465 515 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 516 position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
borlanic 0:02dd72d1d465 517 velocity += profileDeceleration*t3;
borlanic 0:02dd72d1d465 518 }
borlanic 0:02dd72d1d465 519
borlanic 0:02dd72d1d465 520 } else if (velocity < 0.0f) { // speed up to (negative) profile velocity
borlanic 0:02dd72d1d465 521
borlanic 0:02dd72d1d465 522 float t1 = (velocity+profileVelocity)/profileAcceleration;
borlanic 0:02dd72d1d465 523 float t3 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 524 float t2 = ((float)(position-targetPosition)+(velocity-profileVelocity)*0.5f*t1)/profileVelocity-0.5f*t3;
borlanic 0:02dd72d1d465 525
borlanic 0:02dd72d1d465 526 if (t2 < 0.0f) {
borlanic 0:02dd72d1d465 527 float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileAcceleration+velocity*velocity)*profileDeceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 528 t1 = (velocity-minVelocity)/profileAcceleration;
borlanic 0:02dd72d1d465 529 t2 = 0.0f;
borlanic 0:02dd72d1d465 530 t3 = -minVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 531 }
borlanic 0:02dd72d1d465 532
borlanic 0:02dd72d1d465 533 if (t1 > period) {
borlanic 0:02dd72d1d465 534 position += (double)((velocity-profileAcceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 535 velocity += -profileAcceleration*period;
borlanic 0:02dd72d1d465 536 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 537 position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 538 velocity += -profileAcceleration*t1;
borlanic 0:02dd72d1d465 539 position += (double)(velocity*(period-t1));
borlanic 0:02dd72d1d465 540 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 541 position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 542 velocity += -profileAcceleration*t1;
borlanic 0:02dd72d1d465 543 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 544 position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2))*(period-t1-t2));
borlanic 0:02dd72d1d465 545 velocity += profileDeceleration*(period-t1-t2);
borlanic 0:02dd72d1d465 546 } else {
borlanic 0:02dd72d1d465 547 position += (double)((velocity-profileAcceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 548 velocity += -profileAcceleration*t1;
borlanic 0:02dd72d1d465 549 position += (double)(velocity*t2);
borlanic 0:02dd72d1d465 550 position += (double)((velocity+profileDeceleration*0.5f*t3)*t3);
borlanic 0:02dd72d1d465 551 velocity += profileDeceleration*t3;
borlanic 0:02dd72d1d465 552 }
borlanic 0:02dd72d1d465 553
borlanic 0:02dd72d1d465 554 } else { // slow down to zero first, and then speed up to (negative) profile velocity
borlanic 0:02dd72d1d465 555
borlanic 0:02dd72d1d465 556 float t1 = velocity/profileDeceleration;
borlanic 0:02dd72d1d465 557 float t2 = profileVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 558 float t4 = profileVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 559 float t3 = (-(float)(targetPosition-position)+velocity*0.5f*t1)/profileVelocity-0.5f*(t2+t4);
borlanic 0:02dd72d1d465 560
borlanic 0:02dd72d1d465 561 if (t3 < 0.0f) {
borlanic 0:02dd72d1d465 562 float minVelocity = -sqrt((-2.0f*(float)(targetPosition-position)*profileDeceleration+velocity*velocity)*profileAcceleration/(profileAcceleration+profileDeceleration));
borlanic 0:02dd72d1d465 563 t2 = -minVelocity/profileAcceleration;
borlanic 0:02dd72d1d465 564 t3 = 0.0f;
borlanic 0:02dd72d1d465 565 t4 = -minVelocity/profileDeceleration;
borlanic 0:02dd72d1d465 566 }
borlanic 0:02dd72d1d465 567
borlanic 0:02dd72d1d465 568 if (t1 > period) {
borlanic 0:02dd72d1d465 569 position += (double)((velocity-profileDeceleration*0.5f*period)*period);
borlanic 0:02dd72d1d465 570 velocity += -profileDeceleration*period;
borlanic 0:02dd72d1d465 571 } else if (t1+t2 > period) {
borlanic 0:02dd72d1d465 572 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 573 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 574 position += (double)((velocity-profileAcceleration*0.5f*(period-t1))*(period-t1));
borlanic 0:02dd72d1d465 575 velocity += -profileAcceleration*(period-t1);
borlanic 0:02dd72d1d465 576 } else if (t1+t2+t3 > period) {
borlanic 0:02dd72d1d465 577 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 578 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 579 position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 580 velocity += -profileAcceleration*t2;
borlanic 0:02dd72d1d465 581 position += (double)(velocity*(period-t1-t2));
borlanic 0:02dd72d1d465 582 } else if (t1+t2+t3+t4 > period) {
borlanic 0:02dd72d1d465 583 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 584 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 585 position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 586 velocity += -profileAcceleration*t2;
borlanic 0:02dd72d1d465 587 position += (double)(velocity*t3);
borlanic 0:02dd72d1d465 588 position += (double)((velocity+profileDeceleration*0.5f*(period-t1-t2-t3))*(period-t1-t2-t3));
borlanic 0:02dd72d1d465 589 velocity += profileDeceleration*(period-t1-t2-t3);
borlanic 0:02dd72d1d465 590 } else {
borlanic 0:02dd72d1d465 591 position += (double)((velocity-profileDeceleration*0.5f*t1)*t1);
borlanic 0:02dd72d1d465 592 velocity += -profileDeceleration*t1;
borlanic 0:02dd72d1d465 593 position += (double)((velocity-profileAcceleration*0.5f*t2)*t2);
borlanic 0:02dd72d1d465 594 velocity += -profileAcceleration*t2;
borlanic 0:02dd72d1d465 595 position += (double)(velocity*t3);
borlanic 0:02dd72d1d465 596 position += (double)((velocity+profileDeceleration*0.5f*t4)*t4);
borlanic 0:02dd72d1d465 597 velocity += profileDeceleration*t4;
borlanic 0:02dd72d1d465 598 }
borlanic 0:02dd72d1d465 599 }
borlanic 0:02dd72d1d465 600 }
borlanic 0:02dd72d1d465 601 }
borlanic 0:02dd72d1d465 602
borlanic 0:02dd72d1d465 603