include/ReflexxesAPI.h File Reference

Header file for the class ReflexxesAPI (API of the Reflexxes Motion Libraries) More...

#include <RMLPositionInputParameters.h>
#include <RMLPositionOutputParameters.h>
#include <RMLPositionFlags.h>
#include <RMLVelocityInputParameters.h>
#include <RMLVelocityOutputParameters.h>
#include <RMLVelocityFlags.h>
#include <RMLVector.h>

Go to the source code of this file.

Classes
class	ReflexxesAPI
	This class constitutes the API of the Reflexxes Motion Libraries More...

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Detailed Description

Header file for the class ReflexxesAPI (API of the Reflexxes Motion Libraries)

The class ReflexxesAPI is the interface between the actual On-Line Trajectory Generation algorithms of the Reflexxes Motion Libraries and the applications using it. It wraps the classes of the algorithms, provides a simple and clean interface, and it hides all parts of the implementation that or not relevant the actual implementation behind its interface.

The only two relevant functions of a Reflexxes Motion Library are the the methods

• ReflexxesAPI::RMLPosition(), which calls TypeIVRMLPosition::GetNextStateOfMotion() of the class TypeIVRMLPosition, to execute the position-based On-Line Trajectory Generation algorithm and
  

• ReflexxesAPI::RMLVelocity(), which calls TypeIVRMLVelocity::GetNextStateOfMotion() of the class TypeIVRMLVelocity, to execute the velocity-based On-Line Trajectory Generation algorithm,

both of which calculate a new state of motion from any arbitrary initial state of motion.

Both methods, require the specification of a set of input values

• RMLPositionInputParameters / RMLVelocityInputParameters (cf. Description of Input Values)

and a data structure specifying a certain behavior of the algorithm

• RMLPositionFlags / RMLVelocityFlags.

Based on these input values, the result, that is, the state of motion for the succeeding control cycle, is written to an

• RMLPositionOutputParameters / RMLVelocityOutputParameters (cf. Description of Output Values)

object.

To get an overview about the source code, please refer to the Overview About the Source Code. A brief survey of the Reflexxes algorithm can be found at the page The Position-based Type II On-Line Trajectory Generation Algorithm, and error-handling procedures are described at Safety: Three Layers of Error Handling.

Besides the classes for the input and output parameters, this class is is the only one that has to be embedded in a user application. The interface only consists of the constructor and the two methods RMLPosition() and RMLVelocity(), such that an integration into existing systems can be done in a clear and straight-forward way.

See also:

RMLPositionInputParameters

RMLVelocityInputParameters

RMLPositionOutputParameters

RMLVelocityOutputParameters

RMLPositionFlags

RMLVelocityFlags

Getting Started — Simple Examples

Overview About the Source Code

The Position-based Type II On-Line Trajectory Generation Algorithm

Safety: Three Layers of Error Handling

Date:

March 2014

Version:

1.2.6

Author:

Torsten Kroeger, <info@reflexxes.com>

Copyright:

Copyright (C) 2014 Google, Inc.

GNU Lesser General Public License

This file is part of the Type II Reflexxes Motion Library.

The Type II Reflexxes Motion Library is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The Type II Reflexxes Motion Library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License along with the Type II Reflexxes Motion Library. If not, see <http://www.gnu.org/licenses/>.