Motion.h

00001 /*
00002  * Motion.h
00003  * Copyright (c) 2020, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef MOTION_H_
00008 #define MOTION_H_
00009 
00010 #include <cstdlib>
00011 
00012 /**
00013  * This class keeps the motion values <code>position</code> and <code>velocity</code>, and
00014  * offers methods to increment these values towards a desired target position or velocity.
00015  * <br/>
00016  * To increment the current motion values, this class uses a simple 2nd order motion planner.
00017  * This planner calculates the motion to the target position or velocity with the various motion
00018  * phases, based on given limits for the profile velocity, acceleration and deceleration.
00019  * <br/>
00020  * Note that the trajectory is calculated every time the motion state is incremented.
00021  * This allows to change the target position or velocity, as well as the limits for profile
00022  * velocity, acceleration and deceleration at any time.
00023  */
00024 class Motion {
00025     
00026     public:
00027         
00028         double      position;       /**< The position value of this motion, given in [m] or [rad]. */
00029         float       velocity;       /**< The velocity value of this motion, given in [m/s] or [rad/s]. */
00030         
00031                     Motion();
00032                     Motion(double position, float velocity);
00033                     Motion(const Motion& motion);
00034         virtual     ~Motion();
00035         void        set(double position, float velocity);
00036         void        set(const Motion& motion);
00037         void        setPosition(double position);
00038         double      getPosition();
00039         void        setVelocity(float velocity);
00040         float       getVelocity();
00041         void        setProfileVelocity(float profileVelocity);
00042         void        setProfileAcceleration(float profileAcceleration);
00043         void        setProfileDeceleration(float profileDeceleration);
00044         void        setLimits(float profileVelocity, float profileAcceleration, float profileDeceleration);
00045         float       getTimeToPosition(double targetPosition);
00046         void        incrementToVelocity(float targetVelocity, float period);
00047         void        incrementToPosition(double targetPosition, float period);
00048         
00049     private:
00050         
00051         static const float  DEFAULT_LIMIT;  // default value for limits
00052         static const float  MINIMUM_LIMIT;  // smallest value allowed for limits
00053         
00054         float       profileVelocity;
00055         float       profileAcceleration;
00056         float       profileDeceleration;
00057 };
00058 
00059 #endif /* MOTION_H_ */
00060