nAxesGeneratorVel Class Reference
[The Joint Control Components]

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>

List of all members.

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.

Detailed Description

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.

Constructor & Destructor Documentation

nAxesGeneratorVel ( std::string name )

Constructor of the class The interface of the component is build.

Parameters:

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.

Member Function Documentation

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.

Returns:: false if the acceleration and jerk properties do not match the number of axes, true otherwise

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.

Returns:: failes if the input-ports are not ready or the size of the input-ports does not match the number of axes this component is configured for.

Definition at line 128 of file nAxesGeneratorVel.cpp.

Member Data Documentation

RTT::Command<bool(std::vector<double>,double)> applyVelocities_cmd [protected]

Same as nAxesGeneratorVel::applyVelocity_cmd but for all axes at the same time.

Parameters:

	velocity	vector with desired velocities
	duration	duration of the movement

Returns:: false if duration < 0, true otherwise

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.

Parameters:

	axis	number of axis
	velocity	desired velocity
	duration	duration of the movement

Returns:: false if duration < 0, or axis does not exist, true otherwise

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.

Parameters:

	velocity	vector with desired velocities
	duration	minimum duration of the acceleration

Returns:: false if duration<0, true otherwise

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.

Parameters:

	axis	number of axis
	velocity	desired velocity
	duration	minimum duration of acceleration

Returns:: false if axis does not exist or duration < 0, true otherwise

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.

Parameters:

velocity

initial velocities of all axes.

Returns:: false if size of velocity does not match the number of axes this component is configured for, true otherwise.

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.

Parameters:

	axis	axis number
	velocity	initial velocity of the axis

Returns:: false if axis number does not exist, true otherwise

Definition at line 162 of file nAxesGeneratorVel.hpp.

Referenced by nAxesGeneratorVel::nAxesGeneratorVel().

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


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.

nAxesGeneratorVel Class Reference [The Joint Control Components]

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

nAxesGeneratorVel Class Reference
[The Joint Control Components]