RMLPositionFlags Class Reference

Data structure containing flags to parameterize the execution of the position-based On-Line Trajectory Generation algorithm. More...

#include <RMLPositionFlags.h>

Inheritance diagram for RMLPositionFlags:

List of all members.

Public Types
enum	FinalMotionBehaviorEnum { KEEP_TARGET_VELOCITY = 0, RECOMPUTE_TRAJECTORY = 1 }
	Enumeration whose values specify the behavior after the final state of motion is reached. More...
Public Member Functions
	RMLPositionFlags (void)
	Constructor of the class.
	~RMLPositionFlags (void)
	Destructor of the class RMLPositionFlags.
bool	operator== (const RMLPositionFlags &Flags) const
	Equal operator.
bool	operator!= (const RMLPositionFlags &Flags) const
	Unequal operator.
Public Attributes
int	BehaviorAfterFinalStateOfMotionIsReached
	This flag defines the behavior for the time after the final state of motion was reached.
bool	KeepCurrentVelocityInCaseOfFallbackStrategy
	If true, RMLPositionInputParameters::AlternativeTargetVelocityVector will be used in TypeIVRMLPosition::FallBackStrategy()

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Detailed Description

Data structure containing flags to parameterize the execution of the position-based On-Line Trajectory Generation algorithm.

See also:

RMLFlags

RMLVelocityFlags

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Member Enumeration Documentation

enum RMLPositionFlags::FinalMotionBehaviorEnum

Enumeration whose values specify the behavior after the final state of motion is reached.

See also:

BehaviorAfterFinalStateOfMotionIsReached

Enumerator:

KEEP_TARGET_VELOCITY	The desired velocity of the target state of motion will be kept at zero acceleration.
RECOMPUTE_TRAJECTORY	After the final state of motion is reached, a new trajectory will be computed, such that the desired state of motion will be reached again (and again, and again, etc.).

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Constructor & Destructor Documentation

RMLPositionFlags::RMLPositionFlags

(

void

)

[inline]

Constructor of the class.

Sets the default values:

• Synchronization behavior: phase-synchronization if possible (RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE)
• Behavior after the target state of motion is reached: keep target velocity (RMLPositionFlags::KEEP_TARGET_VELOCITY)
• Calculation of extremum motion states enabled
• In case the fall back strategy becomes active: velocity to predefined values (default: zero)

RMLPositionFlags::~RMLPositionFlags

(

void

)

[inline]

Destructor of the class RMLPositionFlags.

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Member Function Documentation

bool RMLPositionFlags::operator!=

(

const RMLPositionFlags &

Flags

)

const [inline]

Unequal operator.

Returns:

false if all attributes of both objects are equal; true otherwise

bool RMLPositionFlags::operator==

(

const RMLPositionFlags &

Flags

)

const [inline]

Equal operator.

Returns:

true if all attributes of both objects are equal; false otherwise

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Member Data Documentation

int RMLPositionFlags::BehaviorAfterFinalStateOfMotionIsReached

This flag defines the behavior for the time after the final state of motion was reached.

Two values are possible:

• RMLPositionFlags::KEEP_TARGET_VELOCITY or
• RMLPositionFlags::RECOMPUTE_TRAJECTORY.

Note:

If the desired target velocity vector is zero, both values will lead to the same behavior.

See also:

FinalMotionBehaviorEnum

Behavior after the Final State of Motion is Reached

bool RMLPositionFlags::KeepCurrentVelocityInCaseOfFallbackStrategy

If true, RMLPositionInputParameters::AlternativeTargetVelocityVector will be used in TypeIVRMLPosition::FallBackStrategy()

In case, the second safety layer becomes activated by calling TypeIVRMLPosition::FallBackStrategy(), this flag can optionally be used to set the current velocity vector as the alternative target velocity vector for the velocity-based On-Line Trajectory Generation algorithm.

Note:

By default, this flag is set to false, and in most cases, is not necessary to change this. Depending on the application, it may be reasonable to keep the current velocity in case of an error.

See also:

RMLPositionInputParameters::AlternativeTargetVelocityVector

Safety: Three Layers of Error Handling

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The documentation for this class was generated from the following file:

• include/RMLPositionFlags.h