This component generates paths between the current velocities and the new desired velocities for multiple axes, this velocities can be maintained or stopped. More...
#include <nAxesGeneratorVel.hpp>
Public Member Functions | |
| nAxesGeneratorVel (std::string name) | |
| Constructor of the class The interface of the component is build. | |
| virtual bool | configureHook () |
| Configures the component, make sure the properties are updated using the OCL::DeploymentComponent or the marshalling interface of the component. | |
| virtual bool | startHook () |
| Starts the component. | |
| virtual void | updateHook () |
| Updates the desired position and velocity according to the calculated profile. | |
| virtual void | stopHook () |
Protected Attributes | |
| RTT::Command< bool(int, double, double)> | applyVelocity_cmd |
| Command to apply a certain velocity to an axis for a amount of time. | |
| RTT::Command< bool(std::vector < double >, double)> | applyVelocities_cmd |
| Same as nAxesGeneratorVel::applyVelocity_cmd but for all axes at the same time. | |
| RTT::Command< bool(int, double, double)> | gotoVelocity_cmd |
| Command to accelerate to a certain velocity and maintain this velocity. | |
| RTT::Command< bool(std::vector < double >, double)> | gotoVelocities_cmd |
| Same as nAxesGeneratorVel::gotoVelocity_cmd but for all axes at the same time. | |
| RTT::Method< void(int, double)> | setInitVelocity_mtd |
| Sets the initial velocity for the axis. | |
| RTT::Method< void(std::vector < double >)> | setInitVelocities_mtd |
| Same as nAxesGeneratorVel::setInitVelocity_cmd but for all axes at the same time. | |
|
RTT::WriteDataPort < std::vector< double > > | v_d_port |
| The current desired velocities. | |
|
RTT::Property< std::vector < double > > | a_max_prop |
| Vector of the maximum accelerations of each axes to be used in the interpolation. | |
|
RTT::Property< std::vector < double > > | j_max_prop |
| Vector of the maximum jerks of each axes to be used in the interpolation. | |
| RTT::Property< unsigned int > | num_axes_prop |
| Number of axes to configure the component for. | |
This component generates paths between the current velocities and the new desired velocities for multiple axes, this velocities can be maintained or stopped.
It uses KDL for the time interpolation. The interpolation uses a trapezoidal acceleration profile using a maximum acceleration and a maximum jerk.
The initial state of the component is PreOperational
Definition at line 51 of file nAxesGeneratorVel.hpp.
| nAxesGeneratorVel | ( | std::string | name | ) |
Constructor of the class The interface of the component is build.
| name | name of the TaskContext |
Definition at line 31 of file nAxesGeneratorVel.cpp.
References nAxesGeneratorVel::a_max_prop, nAxesGeneratorVel::applyVelocities_cmd, nAxesGeneratorVel::applyVelocity_cmd, nAxesGeneratorVel::gotoVelocities_cmd, nAxesGeneratorVel::gotoVelocity_cmd, nAxesGeneratorVel::j_max_prop, nAxesGeneratorVel::num_axes_prop, nAxesGeneratorVel::setInitVelocities_mtd, nAxesGeneratorVel::setInitVelocity_mtd, and nAxesGeneratorVel::v_d_port.
| bool configureHook | ( | ) | [virtual] |
Configures the component, make sure the properties are updated using the OCL::DeploymentComponent or the marshalling interface of the component.
The number of axes, maximum accelerations and jerks for the profiles are updated.
Definition at line 87 of file nAxesGeneratorVel.cpp.
References nAxesGeneratorVel::a_max_prop, nAxesGeneratorVel::j_max_prop, nAxesGeneratorVel::num_axes_prop, and nAxesGeneratorVel::v_d_port.
| bool startHook | ( | ) | [virtual] |
Starts the component.
Definition at line 128 of file nAxesGeneratorVel.cpp.
RTT::Command<bool(std::vector<double>,double)> applyVelocities_cmd [protected] |
Same as nAxesGeneratorVel::applyVelocity_cmd but for all axes at the same time.
| velocity | vector with desired velocities | |
| duration | duration of the movement |
Definition at line 127 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
RTT::Command<bool(int,double,double)> applyVelocity_cmd [protected] |
Command to apply a certain velocity to an axis for a amount of time.
Command is completed when duration is passed.
| axis | number of axis | |
| velocity | desired velocity | |
| duration | duration of the movement |
Definition at line 116 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
RTT::Command<bool(std::vector<double>,double)> gotoVelocities_cmd [protected] |
Same as nAxesGeneratorVel::gotoVelocity_cmd but for all axes at the same time.
| velocity | vector with desired velocities | |
| duration | minimum duration of the acceleration |
Definition at line 152 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
RTT::Command<bool(int,double,double)> gotoVelocity_cmd [protected] |
Command to accelerate to a certain velocity and maintain this velocity.
Command stops when desired velocity is reached.
| axis | number of axis | |
| velocity | desired velocity | |
| duration | minimum duration of acceleration |
Definition at line 140 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
RTT::Method<void(std::vector<double>)> setInitVelocities_mtd [protected] |
Same as nAxesGeneratorVel::setInitVelocity_cmd but for all axes at the same time.
| velocity | initial velocities of all axes. |
Definition at line 173 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
RTT::Method<void(int,double)> setInitVelocity_mtd [protected] |
Sets the initial velocity for the axis.
| axis | axis number | |
| velocity | initial velocity of the axis |
Definition at line 162 of file nAxesGeneratorVel.hpp.
Referenced by nAxesGeneratorVel::nAxesGeneratorVel().
1.6.3