Motion.h

00001 /*
00002  * Motion.h
00003  * Copyright (c) 2017, ZHAW
00004  * All rights reserved.
00005  *
00006  *  Created on: 02.02.2017
00007  *      Author: Marcel Honegger
00008  */
00009 
00010 #ifndef MOTION_H_
00011 #define MOTION_H_
00012 
00013 #include <cstdlib>
00014 
00015 /**
00016  * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
00017  * offers methods to increment these values towards a desired target position or velocity.
00018  * <br/>
00019  * To increment the current motion values, this class uses a simple 2nd order motion planner.
00020  * This planner calculates the motion to the target position or velocity with the various motion
00021  * phases, based on given limits for the profile velocity, acceleration and deceleration.
00022  * <br/>
00023  * Note that the trajectory is calculated every time the motion state is incremented.
00024  * This allows to change the target position or velocity, as well as the limits for profile
00025  * velocity, acceleration and deceleration at any time.
00026  */
00027 class Motion {
00028     
00029     public:
00030         
00031         double      position;       /**< The position value of this motion, given in [m] or [rad]. */
00032         float       velocity;       /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
00033         float       acceleration;   /**< The acceleration value of this motion, given in [m/s&sup2;] or [rad/s&sup2;]. */
00034         
00035                     Motion();
00036                     Motion(double position, float velocity);
00037                     Motion(double position, float velocity, float acceleration);
00038                     Motion(double position, float velocity, float profileVelocity, float profileAcceleration);
00039                     Motion(const Motion& motion);
00040         virtual     ~Motion();
00041         void        set(double position, float velocity);
00042         void        set(double position, float velocity, float acceleration);
00043         void        set(const Motion& motion);
00044         void        setPosition(double position);
00045         double      getPosition();
00046         void        setVelocity(float velocity);
00047         float       getVelocity();
00048         void        setAcceleration(float acceleration);
00049         float       getAcceleration();
00050         void        setProfileVelocity(float profileVelocity);
00051         void        setProfileAcceleration(float profileAcceleration);
00052         void        setProfileDeceleration(float profileDeceleration);
00053         void        setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
00054         float       getTimeToPosition(double targetPosition);
00055         double      getDistanceToStop();
00056         void        incrementToVelocity(float targetVelocity, float period);
00057         void        incrementToPosition(double targetPosition, float period);
00058         
00059     private:
00060         
00061         static const float  DEFAULT_LIMIT;  // default value for limits
00062         static const float  MINIMUM_LIMIT;  // smallest value allowed for limits
00063         
00064         float       profileVelocity;
00065         float       profileAcceleration;
00066         float       profileDeceleration;
00067 };
00068 
00069 #endif /* MOTION_H_ */