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Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)
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Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)
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00001 // ---------------------- Doxygen info ---------------------- 00043 // ---------------------------------------------------------- 00044 // For a convenient reading of this file's source code, 00045 // please use a tab width of four characters. 00046 // ---------------------------------------------------------- 00047 00048 00049 #ifndef __RMLOutputParameters__ 00050 #define __RMLOutputParameters__ 00051 00052 00053 #include <RMLVector.h> 00054 #include <string.h> 00055 00056 00057 // ---------------------- Doxygen info ---------------------- 00074 // ---------------------------------------------------------- 00075 class RMLOutputParameters 00076 { 00077 public: 00078 00079 00080 // ---------------------- Doxygen info ---------------------- 00085 // ---------------------------------------------------------- 00086 enum ReturnValue 00087 { 00088 RETURN_SUCCESS = 0, 00089 RETURN_ERROR = -1 00090 }; 00091 00092 00093 protected: 00094 00095 // ---------------------- Doxygen info ---------------------- 00115 // ---------------------------------------------------------- 00116 RMLOutputParameters(const unsigned int DegreesOfFreedom) 00117 { 00118 unsigned int i = 0 ; 00119 00120 this->TrajectoryIsPhaseSynchronized = false ; 00121 00122 this->NumberOfDOFs = DegreesOfFreedom ; 00123 00124 this->SynchronizationTime = 0.0 ; 00125 00126 this->ANewCalculationWasPerformed = false ; 00127 00128 this->DOFWithTheGreatestExecutionTime = 0 ; 00129 00130 this->NewPositionVector = new RMLDoubleVector(DegreesOfFreedom) ; 00131 this->NewVelocityVector = new RMLDoubleVector(DegreesOfFreedom) ; 00132 this->NewAccelerationVector = new RMLDoubleVector(DegreesOfFreedom) ; 00133 this->MinExtremaTimesVector = new RMLDoubleVector(DegreesOfFreedom) ; 00134 this->MaxExtremaTimesVector = new RMLDoubleVector(DegreesOfFreedom) ; 00135 this->MinPosExtremaPositionVectorOnly = new RMLDoubleVector(DegreesOfFreedom) ; 00136 this->MaxPosExtremaPositionVectorOnly = new RMLDoubleVector(DegreesOfFreedom) ; 00137 this->ExecutionTimes = new RMLDoubleVector(DegreesOfFreedom) ; 00138 00139 memset(this->NewPositionVector->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00140 memset(this->NewVelocityVector->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00141 memset(this->NewAccelerationVector->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00142 memset(this->MinExtremaTimesVector->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00143 memset(this->MaxExtremaTimesVector->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00144 memset(this->MinPosExtremaPositionVectorOnly->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00145 memset(this->MaxPosExtremaPositionVectorOnly->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00146 memset(this->ExecutionTimes->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00147 00148 this->MinPosExtremaPositionVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00149 this->MinPosExtremaVelocityVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00150 this->MinPosExtremaAccelerationVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00151 this->MaxPosExtremaPositionVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00152 this->MaxPosExtremaVelocityVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00153 this->MaxPosExtremaAccelerationVectorArray = new RMLDoubleVector*[DegreesOfFreedom] ; 00154 00155 for (i = 0; i < DegreesOfFreedom; i++) 00156 { 00157 (this->MinPosExtremaPositionVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00158 (this->MinPosExtremaVelocityVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00159 (this->MinPosExtremaAccelerationVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00160 (this->MaxPosExtremaPositionVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00161 (this->MaxPosExtremaVelocityVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00162 (this->MaxPosExtremaAccelerationVectorArray) [i] = new RMLDoubleVector(DegreesOfFreedom); 00163 00164 memset(((this->MinPosExtremaPositionVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00165 memset(((this->MinPosExtremaVelocityVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00166 memset(((this->MinPosExtremaAccelerationVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00167 memset(((this->MaxPosExtremaPositionVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00168 memset(((this->MaxPosExtremaVelocityVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00169 memset(((this->MaxPosExtremaAccelerationVectorArray) [i])->VecData , 0x0 , DegreesOfFreedom * sizeof(double)) ; 00170 } 00171 00172 } 00173 00174 00175 // ---------------------- Doxygen info ---------------------- 00195 // ---------------------------------------------------------- 00196 RMLOutputParameters(const RMLOutputParameters &OP) 00197 { 00198 unsigned int i = 0 ; 00199 00200 this->TrajectoryIsPhaseSynchronized = OP.IsTrajectoryPhaseSynchronized() ; 00201 00202 this->NumberOfDOFs = OP.GetNumberOfDOFs() ; 00203 00204 this->SynchronizationTime = OP.GetSynchronizationTime() ; 00205 00206 this->ANewCalculationWasPerformed = OP.WasACompleteComputationPerformedDuringTheLastCycle() ; 00207 00208 this->DOFWithTheGreatestExecutionTime = OP.GetDOFWithTheGreatestExecutionTime() ; 00209 00210 this->NewPositionVector = new RMLDoubleVector(this->NumberOfDOFs) ; 00211 this->NewVelocityVector = new RMLDoubleVector(this->NumberOfDOFs) ; 00212 this->NewAccelerationVector = new RMLDoubleVector(this->NumberOfDOFs) ; 00213 this->MinExtremaTimesVector = new RMLDoubleVector(this->NumberOfDOFs) ; 00214 this->MaxExtremaTimesVector = new RMLDoubleVector(this->NumberOfDOFs) ; 00215 this->MinPosExtremaPositionVectorOnly = new RMLDoubleVector(this->NumberOfDOFs) ; 00216 this->MaxPosExtremaPositionVectorOnly = new RMLDoubleVector(this->NumberOfDOFs) ; 00217 this->ExecutionTimes = new RMLDoubleVector(this->NumberOfDOFs) ; 00218 00219 this->MinPosExtremaPositionVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00220 this->MinPosExtremaVelocityVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00221 this->MinPosExtremaAccelerationVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00222 this->MaxPosExtremaPositionVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00223 this->MaxPosExtremaVelocityVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00224 this->MaxPosExtremaAccelerationVectorArray = new RMLDoubleVector *[this->NumberOfDOFs] ; 00225 00226 for (i = 0; i < this->NumberOfDOFs; i++) 00227 { 00228 (this->MinPosExtremaPositionVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00229 (this->MinPosExtremaVelocityVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00230 (this->MinPosExtremaAccelerationVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00231 (this->MaxPosExtremaPositionVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00232 (this->MaxPosExtremaVelocityVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00233 (this->MaxPosExtremaAccelerationVectorArray) [i] = new RMLDoubleVector(this->NumberOfDOFs) ; 00234 } 00235 00236 *this = OP ; 00237 } 00238 00239 00240 // ---------------------- Doxygen info ---------------------- 00251 // ---------------------------------------------------------- 00252 void Echo(FILE* FileHandler = stdout) const 00253 { 00254 unsigned int i = 0; 00255 00256 if (FileHandler == NULL) 00257 { 00258 return; 00259 } 00260 00261 fprintf(FileHandler, "New position vector : "); 00262 for (i = 0; i < this->NumberOfDOFs; i++) 00263 { 00264 fprintf(FileHandler, " %.20le ", this->NewPositionVector->VecData[i]); 00265 } 00266 fprintf(FileHandler, "\nNew velocity vector : "); 00267 for (i = 0; i < this->NumberOfDOFs; i++) 00268 { 00269 fprintf(FileHandler, " %.20le ", this->NewVelocityVector->VecData[i]); 00270 } 00271 fprintf(FileHandler, "\nNew acceleration vector : "); 00272 for (i = 0; i < this->NumberOfDOFs; i++) 00273 { 00274 fprintf(FileHandler, " %.20le ", this->NewAccelerationVector->VecData[i]); 00275 } 00276 fprintf(FileHandler, "\n"); 00277 return; 00278 } 00279 00280 00281 public: 00282 00283 // ---------------------- Doxygen info ---------------------- 00288 // ---------------------------------------------------------- 00289 ~RMLOutputParameters(void) 00290 { 00291 unsigned int i = 0; 00292 00293 for (i = 0; i < this->NumberOfDOFs; i++) 00294 { 00295 delete ((this->MinPosExtremaPositionVectorArray) [i]) ; 00296 delete ((this->MinPosExtremaVelocityVectorArray) [i]) ; 00297 delete ((this->MinPosExtremaAccelerationVectorArray) [i]) ; 00298 delete ((this->MaxPosExtremaPositionVectorArray) [i]) ; 00299 delete ((this->MaxPosExtremaVelocityVectorArray) [i]) ; 00300 delete ((this->MaxPosExtremaAccelerationVectorArray) [i]) ; 00301 } 00302 00303 delete this->NewPositionVector ; 00304 delete this->NewVelocityVector ; 00305 delete this->NewAccelerationVector ; 00306 delete this->MinPosExtremaPositionVectorArray ; 00307 delete this->MinPosExtremaVelocityVectorArray ; 00308 delete this->MinPosExtremaAccelerationVectorArray ; 00309 delete this->MaxPosExtremaPositionVectorArray ; 00310 delete this->MaxPosExtremaVelocityVectorArray ; 00311 delete this->MaxPosExtremaAccelerationVectorArray ; 00312 delete this->MinExtremaTimesVector ; 00313 delete this->MaxExtremaTimesVector ; 00314 delete this->MinPosExtremaPositionVectorOnly ; 00315 delete this->MaxPosExtremaPositionVectorOnly ; 00316 delete this->ExecutionTimes ; 00317 00318 this->NewPositionVector = NULL ; 00319 this->NewVelocityVector = NULL ; 00320 this->NewAccelerationVector = NULL ; 00321 this->MinPosExtremaPositionVectorArray = NULL ; 00322 this->MinPosExtremaVelocityVectorArray = NULL ; 00323 this->MinPosExtremaAccelerationVectorArray = NULL ; 00324 this->MaxPosExtremaPositionVectorArray = NULL ; 00325 this->MaxPosExtremaVelocityVectorArray = NULL ; 00326 this->MaxPosExtremaAccelerationVectorArray = NULL ; 00327 this->MinExtremaTimesVector = NULL ; 00328 this->MaxExtremaTimesVector = NULL ; 00329 this->MinPosExtremaPositionVectorOnly = NULL ; 00330 this->MaxPosExtremaPositionVectorOnly = NULL ; 00331 this->ExecutionTimes = NULL ; 00332 00333 this->NumberOfDOFs = 0 ; 00334 } 00335 00336 00337 // ---------------------- Doxygen info ---------------------- 00345 // ---------------------------------------------------------- 00346 RMLOutputParameters &operator = (const RMLOutputParameters &OP) 00347 { 00348 unsigned int i = 0 ; 00349 00350 this->NumberOfDOFs = OP.NumberOfDOFs ; 00351 this->TrajectoryIsPhaseSynchronized = OP.TrajectoryIsPhaseSynchronized ; 00352 this->ANewCalculationWasPerformed = OP.ANewCalculationWasPerformed ; 00353 this->SynchronizationTime = OP.SynchronizationTime ; 00354 this->DOFWithTheGreatestExecutionTime = OP.DOFWithTheGreatestExecutionTime ; 00355 00356 OP.GetNewPositionVector (this->NewPositionVector ) ; 00357 OP.GetNewVelocityVector (this->NewVelocityVector ) ; 00358 OP.GetNewAccelerationVector (this->NewAccelerationVector ) ; 00359 OP.GetTimesAtMinPosition (this->MinExtremaTimesVector ) ; 00360 OP.GetTimesAtMaxPosition (this->MaxExtremaTimesVector ) ; 00361 OP.GetExecutionTimes (this->ExecutionTimes ) ; 00362 00363 OP.GetPositionalExtrema( this->MinPosExtremaPositionVectorOnly 00364 , this->MaxPosExtremaPositionVectorOnly ) ; 00365 00366 for (i = 0; i < this->NumberOfDOFs; i++) 00367 { 00368 OP.GetMotionStateAtMinPosForOneDOF( i 00369 , (this->MinPosExtremaPositionVectorArray)[i] 00370 , (this->MinPosExtremaVelocityVectorArray)[i] 00371 , (this->MinPosExtremaAccelerationVectorArray)[i]); 00372 00373 OP.GetMotionStateAtMaxPosForOneDOF( i 00374 , (this->MaxPosExtremaPositionVectorArray)[i] 00375 , (this->MaxPosExtremaVelocityVectorArray)[i] 00376 , (this->MaxPosExtremaAccelerationVectorArray)[i]); 00377 } 00378 00379 return(*this); 00380 } 00381 00382 00383 // ---------------------- Doxygen info ---------------------- 00397 // ---------------------------------------------------------- 00398 inline void GetNewPositionVector(RMLDoubleVector *OutputVector) const 00399 { 00400 *OutputVector = *(this->NewPositionVector); 00401 } 00402 00403 00404 // ---------------------- Doxygen info ---------------------- 00426 // ---------------------------------------------------------- 00427 inline void GetNewPositionVector( double *OutputVector 00428 , const unsigned int &SizeInBytes) const 00429 { 00430 memcpy( (void*)OutputVector 00431 , (void*)this->NewPositionVector->VecData 00432 , SizeInBytes ); 00433 } 00434 00435 00436 // ---------------------- Doxygen info ---------------------- 00456 // ---------------------------------------------------------- 00457 inline void GetNewPositionVectorElement( double *OutputValue 00458 , const unsigned int &Index) const 00459 { 00460 if ( ( Index + 1 ) > ((unsigned int) this->NewPositionVector->GetVecDim() ) ) 00461 { 00462 *OutputValue = 0.0; 00463 } 00464 else 00465 { 00466 *OutputValue = (*this->NewPositionVector)[Index]; 00467 } 00468 } 00469 00470 00471 // ---------------------- Doxygen info ---------------------- 00485 // ---------------------------------------------------------- 00486 inline double GetNewPositionVectorElement(const unsigned int &Index) const 00487 { 00488 if ( ( Index + 1 ) > ((unsigned int) this->NewPositionVector->GetVecDim() ) ) 00489 { 00490 return(0.0); 00491 } 00492 else 00493 { 00494 return( (*this->NewPositionVector)[Index] ); 00495 } 00496 } 00497 00498 00499 // ############################################################################# 00500 00501 00502 // ---------------------- Doxygen info ---------------------- 00516 // ---------------------------------------------------------- 00517 inline void GetNewVelocityVector(RMLDoubleVector *OutputVector) const 00518 { 00519 *OutputVector = *(this->NewVelocityVector); 00520 } 00521 00522 00523 // ---------------------- Doxygen info ---------------------- 00545 // ---------------------------------------------------------- 00546 inline void GetNewVelocityVector( double *OutputVector 00547 , const unsigned int &SizeInBytes) const 00548 { 00549 memcpy( (void*)OutputVector 00550 , (void*)this->NewVelocityVector->VecData 00551 , SizeInBytes ); 00552 } 00553 00554 00555 // ---------------------- Doxygen info ---------------------- 00575 // ---------------------------------------------------------- 00576 inline void GetNewVelocityVectorElement( double *OutputValue 00577 , const unsigned int &Index) const 00578 { 00579 if ( ( Index + 1 ) > ((unsigned int) this->NewVelocityVector->GetVecDim() ) ) 00580 { 00581 *OutputValue = 0.0; 00582 } 00583 else 00584 { 00585 *OutputValue = (*this->NewVelocityVector)[Index]; 00586 } 00587 } 00588 00589 00590 // ---------------------- Doxygen info ---------------------- 00604 // ---------------------------------------------------------- 00605 inline double GetNewVelocityVectorElement(const unsigned int &Index) const 00606 { 00607 if ( ( Index + 1 ) > ((unsigned int) this->NewVelocityVector->GetVecDim() ) ) 00608 { 00609 return(0.0); 00610 } 00611 else 00612 { 00613 return( (*this->NewVelocityVector)[Index] ); 00614 } 00615 } 00616 00617 00618 // ############################################################################# 00619 00620 00621 // ---------------------- Doxygen info ---------------------- 00635 // ---------------------------------------------------------- 00636 inline void GetNewAccelerationVector(RMLDoubleVector *OutputVector) const 00637 { 00638 *OutputVector = *(this->NewAccelerationVector); 00639 } 00640 00641 00642 // ---------------------- Doxygen info ---------------------- 00664 // ---------------------------------------------------------- 00665 inline void GetNewAccelerationVector( double *OutputVector 00666 , const unsigned int &SizeInBytes) const 00667 { 00668 memcpy( (void*)OutputVector 00669 , (void*)this->NewAccelerationVector->VecData 00670 , SizeInBytes ); 00671 } 00672 00673 00674 // ---------------------- Doxygen info ---------------------- 00694 // ---------------------------------------------------------- 00695 inline void GetNewAccelerationVectorElement( double *OutputValue 00696 , const unsigned int &Index) const 00697 { 00698 if ( ( Index + 1 ) > ((unsigned int) this->NewAccelerationVector->GetVecDim() ) ) 00699 { 00700 *OutputValue = 0.0; 00701 } 00702 else 00703 { 00704 *OutputValue = (*this->NewAccelerationVector)[Index]; 00705 } 00706 } 00707 00708 00709 // ---------------------- Doxygen info ---------------------- 00723 // ---------------------------------------------------------- 00724 inline double GetNewAccelerationVectorElement(const unsigned int &Index) const 00725 { 00726 if ( ( Index + 1 ) > ((unsigned int) this->NewAccelerationVector->GetVecDim() ) ) 00727 { 00728 return(0.0); 00729 } 00730 else 00731 { 00732 return( (*this->NewAccelerationVector)[Index] ); 00733 } 00734 } 00735 00736 00737 // ---------------------- Doxygen info ---------------------- 00756 // ---------------------------------------------------------- 00757 inline void GetPositionalExtrema( RMLDoubleVector *MinimumPositionVector 00758 , RMLDoubleVector *MaximumPositionVector) const 00759 { 00760 *MinimumPositionVector = *(this->MinPosExtremaPositionVectorOnly); 00761 *MaximumPositionVector = *(this->MaxPosExtremaPositionVectorOnly); 00762 } 00763 00764 00765 // ---------------------- Doxygen info ---------------------- 00791 // ---------------------------------------------------------- 00792 inline void GetPositionalExtrema( double *MinimumPositionVector 00793 , double *MaximumPositionVector 00794 , const unsigned int &SizeInBytes) const 00795 { 00796 memcpy( (void*)MinimumPositionVector 00797 , (void*)(this->MinPosExtremaPositionVectorOnly->VecData) 00798 , SizeInBytes ); 00799 00800 memcpy( (void*)MaximumPositionVector 00801 , (void*)(this->MaxPosExtremaPositionVectorOnly->VecData) 00802 , SizeInBytes ); 00803 } 00804 00805 00806 // ---------------------- Doxygen info ---------------------- 00822 // ---------------------------------------------------------- 00823 inline void GetTimesAtMinPosition(RMLDoubleVector *ExtremaTimes) const 00824 { 00825 *ExtremaTimes = *(this->MinExtremaTimesVector); 00826 } 00827 00828 00829 // ---------------------- Doxygen info ---------------------- 00845 // ---------------------------------------------------------- 00846 inline void GetTimesAtMaxPosition(RMLDoubleVector *ExtremaTimes) const 00847 { 00848 *ExtremaTimes = *(this->MaxExtremaTimesVector); 00849 } 00850 00851 00852 // ---------------------- Doxygen info ---------------------- 00874 // ---------------------------------------------------------- 00875 inline void GetTimesAtMinPosition( double *ExtremaTimes 00876 , const unsigned int &SizeInBytes) const 00877 { 00878 memcpy( (void*)ExtremaTimes 00879 , (void*)(this->MinExtremaTimesVector->VecData) 00880 , SizeInBytes ); 00881 } 00882 00883 00884 // ---------------------- Doxygen info ---------------------- 00906 // ---------------------------------------------------------- 00907 inline void GetTimesAtMaxPosition( double *ExtremaTimes 00908 , const unsigned int &SizeInBytes) const 00909 { 00910 memcpy( (void*)ExtremaTimes 00911 , (void*)(this->MaxExtremaTimesVector->VecData) 00912 , SizeInBytes ); 00913 } 00914 00915 00916 // ---------------------- Doxygen info ---------------------- 00955 // ---------------------------------------------------------- 00956 inline int GetMotionStateAtMinPosForOneDOF( const unsigned int &DOF 00957 , RMLDoubleVector *PositionVector 00958 , RMLDoubleVector *VelocityVector 00959 , RMLDoubleVector *AccelerationVector) const 00960 { 00961 if (DOF >= this->NumberOfDOFs) 00962 { 00963 return(RMLOutputParameters::RETURN_ERROR); 00964 } 00965 00966 *PositionVector = *((this->MinPosExtremaPositionVectorArray )[DOF]) ; 00967 *VelocityVector = *((this->MinPosExtremaVelocityVectorArray )[DOF]) ; 00968 *AccelerationVector = *((this->MinPosExtremaAccelerationVectorArray )[DOF]) ; 00969 00970 return(RMLOutputParameters::RETURN_SUCCESS); 00971 } 00972 00973 00974 // ---------------------- Doxygen info ---------------------- 01022 // ---------------------------------------------------------- 01023 inline int GetMotionStateAtMinPosForOneDOF( const unsigned int &DOF 01024 , double *PositionVector 01025 , double *VelocityVector 01026 , double *AccelerationVector 01027 , const unsigned int &SizeInBytes) const 01028 { 01029 if (DOF >= this->NumberOfDOFs) 01030 { 01031 return(RMLOutputParameters::RETURN_ERROR); 01032 } 01033 01034 memcpy( (void*)PositionVector 01035 , (void*)(((this->MinPosExtremaPositionVectorArray)[DOF])->VecData) 01036 , SizeInBytes ); 01037 01038 memcpy( (void*)VelocityVector 01039 , (void*)(((this->MinPosExtremaVelocityVectorArray)[DOF])->VecData) 01040 , SizeInBytes ); 01041 01042 memcpy( (void*)AccelerationVector 01043 , (void*)(((this->MinPosExtremaAccelerationVectorArray)[DOF])->VecData) 01044 , SizeInBytes ); 01045 01046 return(RMLOutputParameters::RETURN_SUCCESS); 01047 } 01048 01049 01050 // ---------------------- Doxygen info ---------------------- 01089 // ---------------------------------------------------------- 01090 inline int GetMotionStateAtMaxPosForOneDOF( const unsigned int &DOF 01091 , RMLDoubleVector *PositionVector 01092 , RMLDoubleVector *VelocityVector 01093 , RMLDoubleVector *AccelerationVector) const 01094 { 01095 if (DOF >= this->NumberOfDOFs) 01096 { 01097 return(RMLOutputParameters::RETURN_ERROR); 01098 } 01099 01100 *PositionVector = *((this->MaxPosExtremaPositionVectorArray )[DOF]) ; 01101 *VelocityVector = *((this->MaxPosExtremaVelocityVectorArray )[DOF]) ; 01102 *AccelerationVector = *((this->MaxPosExtremaAccelerationVectorArray )[DOF]) ; 01103 01104 return(RMLOutputParameters::RETURN_SUCCESS); 01105 } 01106 01107 01108 // ---------------------- Doxygen info ---------------------- 01156 // ---------------------------------------------------------- 01157 inline int GetMotionStateAtMaxPosForOneDOF( const unsigned int &DOF 01158 , double *PositionVector 01159 , double *VelocityVector 01160 , double *AccelerationVector 01161 , const unsigned int &SizeInBytes) const 01162 { 01163 if (DOF >= this->NumberOfDOFs) 01164 { 01165 return(RMLOutputParameters::RETURN_ERROR); 01166 } 01167 01168 memcpy( (void*)PositionVector 01169 , (void*)(((this->MaxPosExtremaPositionVectorArray)[DOF])->VecData) 01170 , SizeInBytes ); 01171 01172 memcpy( (void*)VelocityVector 01173 , (void*)(((this->MaxPosExtremaVelocityVectorArray)[DOF])->VecData) 01174 , SizeInBytes ); 01175 01176 memcpy( (void*)AccelerationVector 01177 , (void*)(((this->MaxPosExtremaAccelerationVectorArray)[DOF])->VecData) 01178 , SizeInBytes ); 01179 01180 return(RMLOutputParameters::RETURN_SUCCESS); 01181 } 01182 01183 01184 // ---------------------- Doxygen info ---------------------- 01192 // ---------------------------------------------------------- 01193 inline unsigned int GetNumberOfDOFs(void) const 01194 { 01195 return(this->NumberOfDOFs); 01196 } 01197 01198 01199 // ---------------------- Doxygen info ---------------------- 01212 // ---------------------------------------------------------- 01213 inline bool WasACompleteComputationPerformedDuringTheLastCycle(void) const 01214 { 01215 return(this->ANewCalculationWasPerformed); 01216 } 01217 01218 01219 // ---------------------- Doxygen info ---------------------- 01229 // ---------------------------------------------------------- 01230 inline bool IsTrajectoryPhaseSynchronized(void) const 01231 { 01232 return(this->TrajectoryIsPhaseSynchronized); 01233 } 01234 01235 // ---------------------- Doxygen info ---------------------- 01255 // ---------------------------------------------------------- 01256 inline double GetSynchronizationTime(void) const 01257 { 01258 return(this->SynchronizationTime); 01259 } 01260 01261 01262 // ---------------------- Doxygen info ---------------------- 01270 // ---------------------------------------------------------- 01271 inline unsigned int GetDOFWithTheGreatestExecutionTime(void) const 01272 { 01273 return(this->DOFWithTheGreatestExecutionTime); 01274 } 01275 01276 01277 // ---------------------- Doxygen info ---------------------- 01293 // ---------------------------------------------------------- 01294 inline void GetExecutionTimes(RMLDoubleVector *OutputVector) const 01295 { 01296 *OutputVector = *(this->ExecutionTimes); 01297 } 01298 01299 01300 // ---------------------- Doxygen info ---------------------- 01324 // ---------------------------------------------------------- 01325 inline void GetExecutionTimes( double *OutputVector 01326 , const unsigned int &SizeInBytes) const 01327 { 01328 memcpy( (void*)OutputVector 01329 , (void*)this->ExecutionTimes->VecData 01330 , SizeInBytes ); 01331 } 01332 01333 01334 // ---------------------- Doxygen info ---------------------- 01356 // ---------------------------------------------------------- 01357 inline void GetExecutionTimesElement( double *OutputValue 01358 , const unsigned int &Index) const 01359 { 01360 if ( ( Index + 1 ) > ((unsigned int) this->ExecutionTimes->GetVecDim() ) ) 01361 { 01362 *OutputValue = 0.0; 01363 } 01364 else 01365 { 01366 *OutputValue = (*this->ExecutionTimes)[Index]; 01367 } 01368 } 01369 01370 01371 // ---------------------- Doxygen info ---------------------- 01387 // ---------------------------------------------------------- 01388 inline double GetExecutionTimesElement(const unsigned int &Index) const 01389 { 01390 if ( ( Index + 1 ) > ((unsigned int) this->ExecutionTimes->GetVecDim() ) ) 01391 { 01392 return(0.0); 01393 } 01394 else 01395 { 01396 return( (*this->ExecutionTimes)[Index] ); 01397 } 01398 } 01399 01400 01401 // ---------------------- Doxygen info ---------------------- 01409 // ---------------------------------------------------------- 01410 inline double GetGreatestExecutionTime(void) const 01411 { 01412 return((this->ExecutionTimes->VecData)[this->DOFWithTheGreatestExecutionTime]); 01413 } 01414 01415 01416 // ---------------------- Doxygen info ---------------------- 01434 // ---------------------------------------------------------- 01435 bool ANewCalculationWasPerformed; 01436 01437 01438 // ---------------------- Doxygen info ---------------------- 01448 // ---------------------------------------------------------- 01449 bool TrajectoryIsPhaseSynchronized; 01450 01451 01452 // ---------------------- Doxygen info ---------------------- 01462 // ---------------------------------------------------------- 01463 unsigned int NumberOfDOFs; 01464 01465 01466 // ---------------------- Doxygen info ---------------------- 01490 // ---------------------------------------------------------- 01491 unsigned int DOFWithTheGreatestExecutionTime; 01492 01493 01494 // ---------------------- Doxygen info ---------------------- 01506 // ---------------------------------------------------------- 01507 double SynchronizationTime; 01508 01509 01510 // ---------------------- Doxygen info ---------------------- 01522 // ---------------------------------------------------------- 01523 RMLDoubleVector *NewPositionVector ; 01524 01525 01526 // ---------------------- Doxygen info ---------------------- 01538 // ---------------------------------------------------------- 01539 RMLDoubleVector *NewVelocityVector ; 01540 01541 01542 // ---------------------- Doxygen info ---------------------- 01554 // ---------------------------------------------------------- 01555 RMLDoubleVector *NewAccelerationVector ; 01556 01557 01558 // ---------------------- Doxygen info ---------------------- 01570 // ---------------------------------------------------------- 01571 RMLDoubleVector *MinExtremaTimesVector ; 01572 01573 01574 // ---------------------- Doxygen info ---------------------- 01586 // ---------------------------------------------------------- 01587 RMLDoubleVector *MaxExtremaTimesVector ; 01588 01589 01590 // ---------------------- Doxygen info ---------------------- 01602 // ---------------------------------------------------------- 01603 RMLDoubleVector *MinPosExtremaPositionVectorOnly ; 01604 01605 01606 // ---------------------- Doxygen info ---------------------- 01618 // ---------------------------------------------------------- 01619 RMLDoubleVector *MaxPosExtremaPositionVectorOnly ; 01620 01621 01622 // ---------------------- Doxygen info ---------------------- 01645 // ---------------------------------------------------------- 01646 RMLDoubleVector *ExecutionTimes; 01647 01648 01649 // ---------------------- Doxygen info ---------------------- 01665 // ---------------------------------------------------------- 01666 RMLDoubleVector **MinPosExtremaPositionVectorArray ; 01667 01668 01669 // ---------------------- Doxygen info ---------------------- 01685 // ---------------------------------------------------------- 01686 RMLDoubleVector **MinPosExtremaVelocityVectorArray ; 01687 01688 01689 // ---------------------- Doxygen info ---------------------- 01705 // ---------------------------------------------------------- 01706 RMLDoubleVector **MinPosExtremaAccelerationVectorArray ; 01707 01708 01709 // ---------------------- Doxygen info ---------------------- 01725 // ---------------------------------------------------------- 01726 RMLDoubleVector **MaxPosExtremaPositionVectorArray ; 01727 01728 01729 // ---------------------- Doxygen info ---------------------- 01745 // ---------------------------------------------------------- 01746 RMLDoubleVector **MaxPosExtremaVelocityVectorArray ; 01747 01748 01749 // ---------------------- Doxygen info ---------------------- 01765 // ---------------------------------------------------------- 01766 RMLDoubleVector **MaxPosExtremaAccelerationVectorArray ; 01767 01768 };// class RMLOutputParameters 01769 01770 01771 01772 #endif 01773 01774