Fawkes API  Fawkes Development Version
quadratic_motor_instruct.h
1 
2 /***************************************************************************
3  * quadratic_motor_instruct.h - Motor instructor with quadratic approximation
4  *
5  * Created: Fri Oct 18 15:16:23 2013
6  * Copyright 2002 Stefan Jacobs
7  * 2013 Bahram Maleki-Fard
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_QUADRATIC_MOTORINSTRUCT_H_
24 #define _PLUGINS_COLLI_DRIVE_REALIZATION_QUADRATIC_MOTORINSTRUCT_H_
25 
26 #include "base_motor_instruct.h"
27 
28 namespace fawkes {
29 
31 {
32 public:
34  float frequency,
35  Logger * logger,
36  Configuration * config);
37  virtual ~QuadraticMotorInstruct();
38 
39 private:
40  ///\brief linear implementation of velocity constraints
41  float calculate_rotation(float current, float desired, float time_factor);
42 
43  ///\brief linear implementation of velocity constraints
44  float calculate_translation(float current, float desired, float time_factor);
45 };
46 
47 } // namespace fawkes
48 #endif
fawkes::QuadraticMotorInstruct::QuadraticMotorInstruct
QuadraticMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Definition: quadratic_motor_instruct.cpp:47
fawkes::MotorInterface
MotorInterface Fawkes BlackBoard Interface.
Definition: MotorInterface.h:34
fawkes::Configuration
Interface for configuration handling.
Definition: config.h:65
fawkes::QuadraticMotorInstruct
This module is a class for validity checks of drive commands and sets those things with respect to th...
Definition: quadratic_motor_instruct.h:31
fawkes::Logger
Interface for logging.
Definition: logger.h:42
fawkes
Fawkes library namespace.
fawkes::BaseMotorInstruct
The Basic of a Motorinstructor.
Definition: base_motor_instruct.h:44
fawkes::QuadraticMotorInstruct::~QuadraticMotorInstruct
virtual ~QuadraticMotorInstruct()
Destructor.
Definition: quadratic_motor_instruct.cpp:58