RMLVelocityInputParameters Class Reference

Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm. More...

#include <RMLVelocityInputParameters.h>

Inheritance diagram for RMLVelocityInputParameters:

List of all members.

Public Member Functions
	RMLVelocityInputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLVelocityInputParameters.
	RMLVelocityInputParameters (const RMLVelocityInputParameters &IP)
	Copy constructor of class RMLVelocityInputParameters.
	~RMLVelocityInputParameters (void)
	Destructor of class RMLVelocityInputParameters.
RMLVelocityInputParameters &	operator= (const RMLVelocityInputParameters &IP)
	Copy operator.
bool	CheckForValidity (void) const
	Checks the input parameters for validity.
void	Echo (FILE *FileHandler=stdout) const
	Prints the complete set of input parameters to *FileHandler.
Protected Types
enum	{ MAXIMUM_MAGNITUDE_RANGE = 10 }

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Detailed Description

Class for the input parameters of the velocity-based On-Line Trajectory Generation algorithm.

The class RMLVelocityInputParameters is derived from the class RMLInputParameters and constitutes a part of the interface for the velocity-based On-Line Trajectory Generation algorithm.

A detailed description can be found at Description of Input Values.

See also:

ReflexxesAPI

RMLInputParameters

RMLPositionInputParameters

RMLVelocityOutputParameters

Description of Input Values

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Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

MAXIMUM_MAGNITUDE_RANGE

Specifies the maximum allowed range for the orders of magnitude of the input values.

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Constructor & Destructor Documentation

RMLVelocityInputParameters::RMLVelocityInputParameters

(

const unsigned int

DegreesOfFreedom

)

[inline]

Constructor of class RMLVelocityInputParameters.

Warning:

The constructor is not real-time capable as heap memory has to be allocated.

Parameters:

DegreesOfFreedom

Specifies the number of degrees of freedom

RMLVelocityInputParameters::RMLVelocityInputParameters

(

const RMLVelocityInputParameters &

IP

)

[inline]

Copy constructor of class RMLVelocityInputParameters.

Warning:

The constructor is not real-time capable as heap memory has to be allocated.

Parameters:

IP	Object to be copied

RMLVelocityInputParameters::~RMLVelocityInputParameters

(

void

)

[inline]

Destructor of class RMLVelocityInputParameters.

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Member Function Documentation

bool RMLVelocityInputParameters::CheckForValidity

(

void

)

const [inline]

Checks the input parameters for validity.

This is an important method to ensure numerical robustness of the On-Line Trajectory Generation algorithm. Only if the result of this method is true, a correct computation of output values can be obtained. If the result is false, the On-Line Trajectory Generation Algorithm will try compute correct output values, and in many cases, this is possible, but it is not guaranteed. All input values have to be within a proper order of magnitude (cf. RMLPositionInputParameters::MAXIMUM_MAGNITUDE_RANGE), the kinematic motion constraints, that is, the maximum values for velocity, and acceleration, have to be positive, and the target velocity must not be greater than the maximum velocity.

Returns:

• true, if all requirements for input parameters are met
• false, otherwise

Note:

• In order to achieve an optimal performance of the On-Line Trajectory Generation algorithm, this method is only executed in case of an error with the purpose to specify the error code of the result value (cf. ReflexxesAPI::RMLResultValue). As a consequence, there is no loss CPU time inside of the Reflexxes Motion Library, such that also the worst-case execution time is not negatively influenced. Please consider this method just as an additional possibility for the user application to check whether the current input values are valid for the On-Line Trajectory Generation algorithm.
  
  
• If the On-Line Trajectory Generation algorithm is fed with invalid input parameters, it will try to compute correct output values. This works for many cases, and correct output values can be provided. If no correct output values can be calculated, it is guaranteed that valid output are provided in any case (cf. Safety: Three Layers of Error Handling).

See also:

ReflexxesAPI::RMLResultValue

RMLPositionInputParameters::MAXIMUM_MAGNITUDE_RANGE

RMLVelocityInputParameters::CheckForValidity()

RMLVelocityInputParameters::MAXIMUM_MAGNITUDE_RANGE

Description of Input Values

void RMLVelocityInputParameters::Echo

(

FILE *

FileHandler = stdout

)

const [inline]

Prints the complete set of input parameters to *FileHandler.

Parameters:

FileHandler

File handler for the output

Warning:

The usage of this method is not real-time capable.

Reimplemented from RMLInputParameters.

RMLVelocityInputParameters & RMLVelocityInputParameters::operator=

(

const RMLVelocityInputParameters &

IP

)

[inline]

Copy operator.

Parameters:

IP	RMLVelocityInputParameters object to be copied

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

• include/RMLVelocityInputParameters.h