robReflexxes Class Reference

Trajectory generator based on Reflexxes Type II Library. More...

#include <robReflexxes.h>

Public Types
enum	SynchronizationType { Reflexxes_NONE , Reflexxes_TIME , Reflexxes_PHASE }
enum	ResultType { Reflexxes_UNDEFINDED , Reflexxes_WORKING , Reflexxes_FINAL_STATE_REACHED , Reflexxes_ERROR }

Public Member Functions
	robReflexxes (void)
	robReflexxes (const vctDoubleVec &MaxVelocity, const vctDoubleVec &MaxAcceleration, const double CycleTime, const SynchronizationType synchronization=Reflexxes_NONE)
	robReflexxes (const vctDoubleVec &MaxVelocity, const vctDoubleVec &MaxAcceleration, const vctDoubleVec &MaxJerk, const double CycleTime, const SynchronizationType synchronization=Reflexxes_NONE)
	~robReflexxes ()
void	Init (void)
const ResultType &	ResultValue (void) const
double	Duration (void) const
const double &	Time (void) const
void	SetTime (const double &time)
void	Set (const vctDoubleVec &MaxVelocity, const vctDoubleVec &MaxAcceleration, const double CycleTime, const SynchronizationType synchronization=Reflexxes_NONE)
	Set target positions and velocities as well as desired maximum velocities and accelerations. All vectors must match the target position size.
void	Set (const vctDoubleVec &MaxVelocity, const vctDoubleVec &MaxAcceleration, const vctDoubleVec &MaxJerk, const double CycleTime, const SynchronizationType synchronization=Reflexxes_NONE)
void	Evaluate (vctDoubleVec &CurrentPosition, vctDoubleVec &CurrentVelocity, const vctDoubleVec &TargetPosition, const vctDoubleVec &TargetVelocity)

Protected Attributes
bool	mIsSet
size_t	mDimension
SynchronizationType	mSynchronization
ReflexxesAPI *	RML
RMLPositionInputParameters *	IP
RMLPositionOutputParameters *	OP
RMLPositionFlags *	mFlags
ResultType	mResultValue
double	mTime
vctDoubleVec	mCurrentAcceleration

Detailed Description

Trajectory generator based on Reflexxes Type II Library.

Details can be found in www.reflexxes.com.

Member Enumeration Documentation

ResultType

enum robReflexxes::ResultType

Enumerator
Reflexxes_UNDEFINDED
Reflexxes_WORKING
Reflexxes_FINAL_STATE_REACHED
Reflexxes_ERROR

SynchronizationType

enum robReflexxes::SynchronizationType

Enumerator
Reflexxes_NONE
Reflexxes_TIME
Reflexxes_PHASE

Constructor & Destructor Documentation

robReflexxes() [1/3]

robReflexxes::robReflexxes

(

void

)

robReflexxes() [2/3]

robReflexxes::robReflexxes	(	const vctDoubleVec &	MaxVelocity,
		const vctDoubleVec &	MaxAcceleration,
		const double	CycleTime,
		const SynchronizationType	synchronization = Reflexxes_NONE )

robReflexxes() [3/3]

robReflexxes::robReflexxes	(	const vctDoubleVec &	MaxVelocity,
		const vctDoubleVec &	MaxAcceleration,
		const vctDoubleVec &	MaxJerk,
		const double	CycleTime,
		const SynchronizationType	synchronization = Reflexxes_NONE )

~robReflexxes()

robReflexxes::~robReflexxes

(

)

Member Function Documentation

Duration()

double robReflexxes::Duration

(

void

)

const

Returns expected time left after last Evaluate call.

Evaluate()

void robReflexxes::Evaluate	(	vctDoubleVec &	CurrentPosition,
		vctDoubleVec &	CurrentVelocity,
		const vctDoubleVec &	TargetPosition,
		const vctDoubleVec &	TargetVelocity )

Init()

void robReflexxes::Init

(

void

)

ResultValue()

const ResultType & robReflexxes::ResultValue

(

void

)

const

Set() [1/2]

void robReflexxes::Set	(	const vctDoubleVec &	MaxVelocity,
		const vctDoubleVec &	MaxAcceleration,
		const double	CycleTime,
		const SynchronizationType	synchronization = Reflexxes_NONE )

Set target positions and velocities as well as desired maximum velocities and accelerations. All vectors must match the target position size.

Parameters

maximum	velocities
maximum	acceleration

Set() [2/2]

void robReflexxes::Set	(	const vctDoubleVec &	MaxVelocity,
		const vctDoubleVec &	MaxAcceleration,
		const vctDoubleVec &	MaxJerk,
		const double	CycleTime,
		const SynchronizationType	synchronization = Reflexxes_NONE )

SetTime()

void robReflexxes::SetTime

(

const double &

time

)

Time()

const double & robReflexxes::Time

(

void

)

const

Member Data Documentation

IP

RMLPositionInputParameters* robReflexxes::IP

protected

mCurrentAcceleration

vctDoubleVec robReflexxes::mCurrentAcceleration

protected

mDimension

size_t robReflexxes::mDimension

protected

Number of degrees of freedom

mFlags

RMLPositionFlags* robReflexxes::mFlags

protected

mIsSet

bool robReflexxes::mIsSet

protected

To ensure we don't evaluate if the parameters are not set

mResultValue

ResultType robReflexxes::mResultValue

protected

mSynchronization

SynchronizationType robReflexxes::mSynchronization

protected

synchronization type we can set

mTime

double robReflexxes::mTime

protected

OP

RMLPositionOutputParameters* robReflexxes::OP

protected

RML

ReflexxesAPI* robReflexxes::RML

protected

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

• tmp/cisst-saw/cisst/cisstRobot/robReflexxes.h