Nim leo niiiim
Diff: Motion.h
- Revision:
- 0:da791f233257
diff -r 000000000000 -r da791f233257 Motion.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Motion.h Fri May 11 12:21:19 2018 +0000 @@ -0,0 +1,60 @@ +/* + * 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_ */ +