Reflexxes Motion Libraries  Manual and Documentation (Type II, Version 1.2.6)
include/RMLPositionFlags.h
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00001 //  ---------------------- Doxygen info ----------------------
00041 //  ----------------------------------------------------------
00042 //   For a convenient reading of this file's source code,
00043 //   please use a tab width of four characters.
00044 //  ----------------------------------------------------------
00045
00046
00047 #ifndef __RMLPositionFlags__
00048 #define __RMLPositionFlags__
00049 
00050
00051 #include <RMLFlags.h>
00052
00053
00054 //  ---------------------- Doxygen info ----------------------
00063 //  ----------------------------------------------------------
00064 class RMLPositionFlags : public RMLFlags
00065 {
00066 public:
00067
00068
00069 //  ---------------------- Doxygen info ----------------------
00081 //  ----------------------------------------------------------
00082     RMLPositionFlags(void)
00083     {
00084         this->SynchronizationBehavior                       =   RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE ;
00085         this->BehaviorAfterFinalStateOfMotionIsReached      =   RMLPositionFlags::KEEP_TARGET_VELOCITY      ;
00086         this->EnableTheCalculationOfTheExtremumMotionStates =   true                                        ;
00087         this->KeepCurrentVelocityInCaseOfFallbackStrategy   =   false                                       ;
00088     }
00089
00090
00091 //  ---------------------- Doxygen info ----------------------
00096 //  ----------------------------------------------------------
00097     ~RMLPositionFlags(void)
00098     {
00099     }
00100
00101
00102 //  ---------------------- Doxygen info ----------------------
00110 //  ----------------------------------------------------------
00111     inline bool operator == (const RMLPositionFlags &Flags) const
00112     {
00113         return(     (RMLFlags::operator==(Flags))
00114                 &&  (this->BehaviorAfterFinalStateOfMotionIsReached
00115                         ==  Flags.BehaviorAfterFinalStateOfMotionIsReached)
00116                 &&  (this->KeepCurrentVelocityInCaseOfFallbackStrategy
00117                         ==  Flags.KeepCurrentVelocityInCaseOfFallbackStrategy));
00118     }
00119
00120
00121 //  ---------------------- Doxygen info ----------------------
00129 //  ----------------------------------------------------------
00130     inline bool operator != (const RMLPositionFlags &Flags) const
00131     {
00132         return(!(*this == Flags));
00133     }
00134
00135
00136 //  ---------------------- Doxygen info ----------------------
00144 //  ----------------------------------------------------------
00145     enum FinalMotionBehaviorEnum
00146     {
00150         KEEP_TARGET_VELOCITY    =   0   ,
00155         RECOMPUTE_TRAJECTORY    =   1
00156     };
00157
00158
00159 //  ---------------------- Doxygen info ----------------------
00178 //  ----------------------------------------------------------
00179     int             BehaviorAfterFinalStateOfMotionIsReached;
00180
00181
00182 //  ---------------------- Doxygen info ----------------------
00204 //  ----------------------------------------------------------
00205     bool                KeepCurrentVelocityInCaseOfFallbackStrategy;
00206
00207
00208 };// class RMLPositionFlags
00209
00210
00211
00212 #endif
00213 
00214
User documentation of the Reflexxes Motion Libraries by Reflexxes GmbH (Company Information, Impressum). This document was generated with Doxygen on Mon Jul 7 2014 13:21:08. Copyright 2010–2014.