Fawkes API
Fawkes Development Version
emergency_motor_instruct.h
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/***************************************************************************
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* emergency_motor_instruct.h - Motor instructor with quadratic approximation
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*
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* Created: Thu Jul 10:35:23 2014
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* Copyright 2014 Tobias Neumann
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
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#define _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
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#include "base_motor_instruct.h"
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namespace
fawkes
{
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class
EmergencyMotorInstruct :
public
BaseMotorInstruct
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{
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public
:
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EmergencyMotorInstruct
(MotorInterface *motor,
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float
frequency,
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Logger
* logger,
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Configuration
* config);
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virtual
~EmergencyMotorInstruct
();
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private
:
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///\brief linear implementation of velocity constraints
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float
calculate_rotation(
float
current,
float
desired,
float
time_factor);
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///\brief linear implementation of velocity constraints
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float
calculate_translation(
float
current,
float
desired,
float
time_factor);
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};
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}
// namespace fawkes
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#endif
fawkes::EmergencyMotorInstruct::EmergencyMotorInstruct
EmergencyMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Definition:
emergency_motor_instruct.cpp:54
fawkes::Configuration
Definition:
config.h:70
fawkes::Logger
Definition:
logger.h:41
fawkes
fawkes::EmergencyMotorInstruct::~EmergencyMotorInstruct
virtual ~EmergencyMotorInstruct()
Destructor.
Definition:
emergency_motor_instruct.cpp:65
src
plugins
colli
drive_realization
emergency_motor_instruct.h
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