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

#include <RMLVelocityOutputParameters.h>

Inheritance diagram for RMLVelocityOutputParameters:

Public Member Functions
	RMLVelocityOutputParameters (const unsigned int DegreesOfFreedom)
	Constructor of class RMLVelocityOutputParameters.
	RMLVelocityOutputParameters (const RMLVelocityOutputParameters &OP)
	Copy constructor of class RMLVelocityOutputParameters.
	~RMLVelocityOutputParameters (void)
	Destructor of class RMLVelocityOutputParameters.
RMLVelocityOutputParameters &	operator= (const RMLVelocityOutputParameters &OP)
	Copy operator.
void	GetPositionValuesAtTargetVelocity (RMLDoubleVector *OutputVector) const
	Copies the contents of the `RMLDoubleVector` object containing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the `RMLDoubleVector` object referred to by `OutputVector`.
void	GetPositionValuesAtTargetVelocity (double *OutputVector, const unsigned int &SizeInBytes) const
	Copies the array of `double` values representing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputVector`.
void	GetPositionValuesAtTargetVelocityElement (double *OutputValue, const unsigned int &Index) const
	Copies one element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by `OutputValue`.
double	GetPositionValuesAtTargetVelocityElement (const unsigned int &Index) const
	Returns one single element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached.
void	Echo (FILE *FileHandler=stdout) const
	Prints the new state of motion of the output parameters to *FileHandler.
Public Attributes
RMLDoubleVector *	PositionValuesAtTargetVelocity
	A pointer to an `RMLDoubleVector` object that contains the position values at the instants the desired target velocity is reached.

Detailed Description

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

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

See also:: ReflexxesAPI; RMLOutputParameters; RMLPositionOutputParameters; RMLVelocityInputParameters

Constructor & Destructor Documentation

RMLVelocityOutputParameters::RMLVelocityOutputParameters ( const unsigned int DegreesOfFreedom ) [inline]

Constructor of class RMLVelocityOutputParameters.

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

Parameters:

DegreesOfFreedom Specifies the number of degrees of freedom

RMLVelocityOutputParameters::RMLVelocityOutputParameters ( const RMLVelocityOutputParameters & OP ) [inline]

Copy constructor of class RMLVelocityOutputParameters.

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

Parameters:

OP	Object to be copied

RMLVelocityOutputParameters::~RMLVelocityOutputParameters ( void ) [inline]

Destructor of class RMLVelocityOutputParameters.

Member Function Documentation

void RMLVelocityOutputParameters::Echo ( FILE * FileHandler = stdout ) const [inline]

Prints the new state of motion of the output parameters to *FileHandler.

Parameters:

FileHandler File handler for the output

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

Reimplemented from RMLOutputParameters.

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocity ( RMLDoubleVector * OutputVector ) const [inline]

Copies the contents of the RMLDoubleVector object containing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the RMLDoubleVector object referred to by OutputVector.

Parameters:

OutputVector A pointer to an RMLDoubleVector object, to which the data will be copied

See also:: GetPositionValuesAtTargetVelocity(double *OutputVector, const unsigned int &SizeInBytes) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocity	(	double *	OutputVector,
		const unsigned int &	SizeInBytes
	)		const `[inline]`

Copies the array of double values representing the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by OutputVector.

Parameters:

OutputVector	A pointer to an array of `double` values, to which the data will be copied
SizeInBytes	The size of available memory at the location pointed to by `OutputVector`. To assure safety and to prevent from prohibited writing into protected memory areas, the user has to specify the amount of available memory in bytes. For a correct operation, the value of `SizeInBytes` has to equal the number of vector elements multiplied by the size of a `double` value.

See also:: GetPositionValuesAtTargetVelocity(RMLDoubleVector *OutputVector) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

void RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocityElement	(	double *	OutputValue,
		const unsigned int &	Index
	)		const `[inline]`

Copies one element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached, to the memory pointed to by OutputValue.

Parameters:

OutputValue	A pointer to one `double` value, to which the desired vector element will be copied
Index	Specifies the desired element of the vector. The element numbering starts with 0 (zero). If this value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by `OutputValue`.

See also:: GetPositionValuesAtTargetVelocity(RMLDoubleVector *OutputVector) const; GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const; GetPositionValuesAtTargetVelocityElement(const unsigned int &Index) const

double RMLVelocityOutputParameters::GetPositionValuesAtTargetVelocityElement ( const unsigned int & Index ) const [inline]

Returns one single element of the position values for each degree of freedom, at which the desired target velocity $\ _{k}V_{i}^{\,trgt}$ is reached.

Parameters:

Index Specifies the desired element of the vector. The index of the first vector element is 0 (zero). If the value of Index value is greater the number of vector elements, a value of 0.0 will be written to the memory pointed to by OutputValue.

See also:: GetPositionValuesAtTargetVelocityElement(double *OutputValue, const unsigned int &Index) const

RMLVelocityOutputParameters & RMLVelocityOutputParameters::operator= ( const RMLVelocityOutputParameters & OP ) [inline]

Copy operator.

Parameters:

OP	RMLVelocityOutputParameters object to be copied

Member Data Documentation

RMLDoubleVector * RMLVelocityOutputParameters::PositionValuesAtTargetVelocity

A pointer to an RMLDoubleVector object that contains the position values at the instants the desired target velocity is reached.

This attribute can be accessed directly or by using one of the following methods:

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

include/RMLVelocityOutputParameters.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation