Header file for functions and definitions of constant values and macros. More...

#include <math.h>

Namespaces
namespace	TypeIIRMLMath
Defines
#define	OTG_INFINITY ((double)1.0e100)
	A value for infinity $\infty = 10^{100}$ .
#define	RML_INPUT_VALUE_EPSILON ((double)1.0e-10)
	Positive threshold value to compare current and former input values.
#define	RML_VALID_SOLUTION_EPSILON ((double)1.0e-10)
	Positive threshold value used during the check, whether a valid solution for a given profile is possible.
#define	MAXIMAL_NO_OF_POLYNOMIALS 7
	The maximum number of polynomials.
#define	RML_MAX_EXECUTION_TIME ((double)1e10)
	Maximum value for the for the minimum trajectory execution time $t_i^{\,min}$ .
#define	RML_ADDITIONAL_RELATIVE_POSITION_ERROR_IN_CASE_OF_EQUALITY ((double)1e-7)
	If the initial state of motion exactly equals the target state of motion, a negligible position error is created.
#define	RML_ADDITIONAL_ABSOLUTE_POSITION_ERROR_IN_CASE_OF_EQUALITY ((double)1e-7)
	If the initial state of motion exactly equals the target state of motion, a negligible position error is created.
#define	POSITIVE_ZERO ((double)1.0e-50)
	To prevent from numerical errors, a value for a "positive" value of zero is required for deterministic behavior.
#define	ABSOLUTE_PHASE_SYNC_EPSILON ((double)1.0e-6)
	Absolute epsilon to check whether all required vectors are collinear.
#define	RELATIVE_PHASE_SYNC_EPSILON ((double)1.0e-3)
	Relative epsilon to check whether all required vectors are collinear.
#define	RML_INFINITY ((double)1.0e100)
	A value for infinity $\infty = 10^{100}$ .
#define	RML_POSITION_EXTREMS_TIME_EPSILON ((double)1.0e-4)
	Time value in seconds to increase the time intervals, in which a trajectory segment is valid in order to robustly calculate positional extremes.
#define	PHASE_SYNC_COLLINEARITY_REL_EPSILON ((double)1.0e-2)
	Relative value to check for collinearity during the check for phase synchronization.
#define	Sign(A) ( ((double)(A) < 0.0)?(-1):(1) )
	Sign macro (integer)
#define	FSign(A) ( ((double)(A) < 0.0)?(-1.0):(1.0) )
	Sign macro (floating point)
#define	pow2(A) ((A)*(A))
	A to the power of 2.
#define	IsInputEpsilonEqual(A, B) ((bool)((fabs((double)A - (double)B) <= RML_INPUT_VALUE_EPSILON)?(true):(false)))
	A macro that checks, whether the difference between the values 'A' and 'B' is less than RML_INPUT_VALUE_EPSILON.
Functions
double	TypeIIRMLMath::RMLSqrt (const double &Value)
	Calculates the real square root of a given value. If the value is negative a value of almost zero will be returned.
bool	TypeIIRMLMath::IsEpsilonEquality (const double &Value1, const double &Value2, const double &Epsilon)
	Checks epsilon equality for two values.

Detailed Description

Header file for functions and definitions of constant values and macros.

Header file for definitions of constant values and macros to be used for within in the library of the Type II On-Line Trajectory Algorithm.

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/>.

Define Documentation

#define ABSOLUTE_PHASE_SYNC_EPSILON ((double)1.0e-6)

Absolute epsilon to check whether all required vectors are collinear.

See also:: TypeIIRMLPosition::IsPhaseSynchronizationPossible(); TypeIIRMLPosition::Step1(); TypeIIRMLVelocity::GetNextStateOfMotion(); TypeIIRMLVelocity::IsPhaseSynchronizationPossible()

#define FSign ( A ) ( ((double)(A) < 0.0)?(-1.0):(1.0) )

Sign macro (floating point)

Parameters:

A	Value, whose sign is returned.

Returns:: Floating point value: -1.0 or 1.0

#define IsInputEpsilonEqual	(	A,
		B
	)	((bool)((fabs((double)A - (double)B) <= RML_INPUT_VALUE_EPSILON)?(true):(false)))

A macro that checks, whether the difference between the values 'A' and 'B' is less than RML_INPUT_VALUE_EPSILON.

#define MAXIMAL_NO_OF_POLYNOMIALS 7

The maximum number of polynomials.

The maximum number of polynomials to be used for the Type II On-Line Trajectory Generation algorithm. This number is set up w.r.t. the 6 trajectory segments of the Step 2 Decision Tree plus one further segment for the time after the desired state of motion has been reached.

See also:: TypeIIRMLPolynomial.h

#define OTG_INFINITY ((double)1.0e100)

A value for infinity $\infty = 10^{100}$ .

#define PHASE_SYNC_COLLINEARITY_REL_EPSILON ((double)1.0e-2)

Relative value to check for collinearity during the check for phase synchronization.

See also:: TypeIIRMLPosition::IsPhaseSynchronizationPossible()

#define POSITIVE_ZERO ((double)1.0e-50)

To prevent from numerical errors, a value for a "positive" value of zero is required for deterministic behavior.

#define pow2 ( A ) ((A)*(A))

A to the power of 2.

Parameters:

A Basis

Returns:: Result value

#define RELATIVE_PHASE_SYNC_EPSILON ((double)1.0e-3)

Relative epsilon to check whether all required vectors are collinear.

See also:: TypeIIRMLPosition::Step1(); TypeIIRMLVelocity::GetNextStateOfMotion()

#define RML_ADDITIONAL_ABSOLUTE_POSITION_ERROR_IN_CASE_OF_EQUALITY ((double)1e-7)

If the initial state of motion exactly equals the target state of motion, a negligible position error is created.

See also:: TypeIIRMLPosition::CompareAndEventuallyAdaptInitialAndTargetStateofMotion()

#define RML_ADDITIONAL_RELATIVE_POSITION_ERROR_IN_CASE_OF_EQUALITY ((double)1e-7)

If the initial state of motion exactly equals the target state of motion, a negligible position error is created.

See also:: TypeIIRMLPosition::CompareAndEventuallyAdaptInitialAndTargetStateofMotion()

#define RML_INFINITY ((double)1.0e100)

A value for infinity $\infty = 10^{100}$ .

#define RML_INPUT_VALUE_EPSILON ((double)1.0e-10)

Positive threshold value to compare current and former input values.

Positive threshold value to determine, whether the input values of the OTG algorithm remained constant. This value is used in the macro IsInputEpsilonEqual().