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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: TrjScurve.cpp Source File</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><div class="nav"><a class="el" href="dir_000000.html">c</a></div><h1>TrjScurve.cpp</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************************************/</span><a name="l00002"></a>00002 <span class="comment">/* */</span><a name="l00003"></a>00003 <span class="comment">/* Copley Motion Libraries */</span><a name="l00004"></a>00004 <span class="comment">/* */</span><a name="l00005"></a>00005 <span class="comment">/* Author: Stephen Glow */</span><a name="l00006"></a>00006 <span class="comment">/* */</span><a name="l00007"></a>00007 <span class="comment">/* Copyright (c) 2002-2005 Copley Controls Corp. */</span><a name="l00008"></a>00008 <span class="comment">/* http://www.copleycontrols.com */</span><a name="l00009"></a>00009 <span class="comment">/* */</span><a name="l00010"></a>00010 <span class="comment">/************************************************************/</span><a name="l00011"></a>00011 <a name="l00012"></a>00012 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00013"></a>00013 <span class="preprocessor">#ifdef CML_ALLOW_FLOATING_POINT</span><a name="l00014"></a>00014 <span class="preprocessor"></span><a name="l00015"></a>00015 <span class="preprocessor">#include <math.h></span><a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="CML_8h.html">CML.h</a>"</span><a name="l00017"></a>00017 <a name="l00018"></a>00018 <a class="code" href="CML__Settings_8h.html#a13">CML_NAMESPACE_USE</a>();<a name="l00019"></a>00019 <a name="l00020"></a>00020 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classScurveError.html">ScurveError</a>, BadParam, <span class="stringliteral">"An illegal input parameter was passed"</span> );<a name="l00021"></a>00021 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classScurveError.html">ScurveError</a>, NoCalc, <span class="stringliteral">"Trjaectory has not been calculated"</span> );<a name="l00022"></a>00022 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classScurveError.html">ScurveError</a>, InUse, <span class="stringliteral">"Trajectory is currently in use"</span> );<a name="l00023"></a>00023 <a class="code" href="CML__Error_8h.html#a0">CML_NEW_ERROR</a>( <a class="code" href="classScurveError.html">ScurveError</a>, NotInUse, <span class="stringliteral">"Trajectory has not been started"</span> );<a name="l00024"></a>00024 <a name="l00025"></a>00025 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00026"></a>00026 <span class="comment">/**</span><a name="l00027"></a>00027 <span class="comment">S-curve trajectory default constructor. This simply sets the profile to </span><a name="l00028"></a>00028 <span class="comment">zero length with a starting position of zero.</span><a name="l00029"></a>00029 <span class="comment">*/</span><a name="l00030"></a>00030 <span class="comment">/***************************************************************************/</span><a name="l00031"></a>00031 TrjScurve::TrjScurve( <span class="keywordtype">void</span> )<a name="l00032"></a>00032 {<a name="l00033"></a>00033 start = 0;<a name="l00034"></a>00034 inUse = <span class="keyword">false</span>;<a name="l00035"></a>00035 init = <span class="keyword">false</span>;<a name="l00036"></a>00036 }<a name="l00037"></a>00037 <a name="l00038"></a>00038 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00039"></a>00039 <span class="comment">/**</span><a name="l00040"></a>00040 <span class="comment">Set the trajectory starting position. S-curve profiles are internally stored</span><a name="l00041"></a>00041 <span class="comment">as absolute moves of some length. This allows them to be used multiple times </span><a name="l00042"></a>00042 <span class="comment">with different starting positions. </span><a name="l00043"></a>00043 <span class="comment"></span><a name="l00044"></a>00044 <span class="comment">This function may be used to update the starting position of the trajectory.</span><a name="l00045"></a>00045 <span class="comment"></span><a name="l00046"></a>00046 <span class="comment">@param s The new starting position</span><a name="l00047"></a>00047 <span class="comment">*/</span><a name="l00048"></a>00048 <span class="comment">/***************************************************************************/</span><a name="l00049"></a>00049 <span class="keywordtype">void</span> TrjScurve::SetStartPos( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> s )<a name="l00050"></a>00050 {<a name="l00051"></a>00051 start = s;<a name="l00052"></a>00052 <span class="keywordflow">return</span>;<a name="l00053"></a>00053 }<a name="l00054"></a>00054 <a name="l00055"></a>00055 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00056"></a>00056 <span class="comment">/**</span><a name="l00057"></a>00057 <span class="comment">Return the current starting position of the trajectory. The starting position</span><a name="l00058"></a>00058 <span class="comment">will either be the value set using TrjScurve::SetStartPos, or the value set </span><a name="l00059"></a>00059 <span class="comment">using TrjScurve::Calculate. If neither has been called since construction, </span><a name="l00060"></a>00060 <span class="comment">then the starting position will be zero.</span><a name="l00061"></a>00061 <span class="comment"></span><a name="l00062"></a>00062 <span class="comment">@return The trajectory starting position.</span><a name="l00063"></a>00063 <span class="comment">*/</span><a name="l00064"></a>00064 <span class="comment">/***************************************************************************/</span><a name="l00065"></a>00065 <a class="code" href="CML__Utils_8h.html#a11">uunit</a> TrjScurve::GetStartPos( <span class="keywordtype">void</span> )<a name="l00066"></a>00066 {<a name="l00067"></a>00067 <span class="keywordflow">return</span> start;<a name="l00068"></a>00068 }<a name="l00069"></a>00069 <a name="l00070"></a>00070 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00071"></a>00071 <span class="comment">/**</span><a name="l00072"></a>00072 <span class="comment">Calculate a new S-curve profile and also set it's starting position.</span><a name="l00073"></a>00073 <span class="comment"></span><a name="l00074"></a>00074 <span class="comment">@param start The profile starting position.</span><a name="l00075"></a>00075 <span class="comment">@param end The profile ending position.</span><a name="l00076"></a>00076 <span class="comment">@param vel The maximum allowable velocity for the move.</span><a name="l00077"></a>00077 <span class="comment">@param acc The maximum allowable acceleration for the move.</span><a name="l00078"></a>00078 <span class="comment">@param dec The maximum allowable deceleration for the move.</span><a name="l00079"></a>00079 <span class="comment">@param jrk The maximum jerk (rate of change of acceleration) for the move.</span><a name="l00080"></a>00080 <span class="comment"></span><a name="l00081"></a>00081 <span class="comment">@return A pointer to an error object, or NULL on success.</span><a name="l00082"></a>00082 <span class="comment">*/</span><a name="l00083"></a>00083 <span class="comment">/***************************************************************************/</span><a name="l00084"></a>00084 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *TrjScurve::Calculate( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> start, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> end, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> vel, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> acc, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> dec, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> jrk )<a name="l00085"></a>00085 {<a name="l00086"></a>00086 <a class="code" href="CML__Utils_8h.html#a11">uunit</a> dist = end-start;<a name="l00087"></a>00087 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err = Calculate( dist, vel, acc, dec, jrk );<a name="l00088"></a>00088 <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;<a name="l00089"></a>00089 SetStartPos( start );<a name="l00090"></a>00090 <span class="keywordflow">return</span> 0;<a name="l00091"></a>00091 }<a name="l00092"></a>00092 <a name="l00093"></a>00093 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00094"></a>00094 <span class="comment">/**</span><a name="l00095"></a>00095 <span class="comment">Calculate a new S-curve profile. The resulting profile may then be sent </span><a name="l00096"></a>00096 <span class="comment">to an Amp object using the Amp::SendTrajectory method.</span><a name="l00097"></a>00097 <span class="comment"></span><a name="l00098"></a>00098 <span class="comment">Note, all profile parameters are passed in 'user units'. See the </span><a name="l00099"></a>00099 <span class="comment">documentation for Amp::SetCountsPerUnit for details.</span><a name="l00100"></a>00100 <span class="comment"></span><a name="l00101"></a>00101 <span class="comment">Note also that this function calculate the profile as an absolte move from</span><a name="l00102"></a>00102 <span class="comment">the starting position that is set using TrjScurve::SetStartPos. The same</span><a name="l00103"></a>00103 <span class="comment">profile may be used multiple times with different starting positions without</span><a name="l00104"></a>00104 <span class="comment">calling the TrjScurve::Calculate function again.</span><a name="l00105"></a>00105 <span class="comment"></span><a name="l00106"></a>00106 <span class="comment">@param dist The distance to move.</span><a name="l00107"></a>00107 <span class="comment">@param maxVel The maximum allowable velocity for the move.</span><a name="l00108"></a>00108 <span class="comment">@param maxAcc The maximum allowable acceleration for the move.</span><a name="l00109"></a>00109 <span class="comment">@param maxDec The maximum allowable deceleration for the move.</span><a name="l00110"></a>00110 <span class="comment">@param maxJrk The maximum jerk (rate of change of acceleration) for the move.</span><a name="l00111"></a>00111 <span class="comment"></span><a name="l00112"></a>00112 <span class="comment">@return A pointer to an error object, or NULL on success.</span><a name="l00113"></a>00113 <span class="comment"></span><a name="l00114"></a>00114 <span class="comment">The distance will always be met exactly. This may be either positive or</span><a name="l00115"></a>00115 <span class="comment">negative.</span><a name="l00116"></a>00116 <span class="comment"> </span><a name="l00117"></a>00117 <span class="comment">The velocity, acceleration, deceleration and jerk values are constraints </span><a name="l00118"></a>00118 <span class="comment">and won't be exceeded. These must all be positive numbers greater then zero.</span><a name="l00119"></a>00119 <span class="comment">*/</span><a name="l00120"></a>00120 <span class="comment">/***************************************************************************/</span><a name="l00121"></a>00121 <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *TrjScurve::Calculate( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> dist, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> maxVel, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> maxAcc, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> maxDec, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> maxJrk )<a name="l00122"></a>00122 {<a name="l00123"></a>00123 <span class="comment">/**************************************************</span><a name="l00124"></a>00124 <span class="comment"> * Do some sanity checks on the input limits.</span><a name="l00125"></a>00125 <span class="comment"> **************************************************/</span><a name="l00126"></a>00126 <span class="keywordflow">if</span>( maxVel<=0 || maxAcc<=0 || maxDec<=0 || maxJrk<=0 )<a name="l00127"></a>00127 <span class="keywordflow">return</span> &<a class="code" href="classScurveError.html#s0">ScurveError::BadParam</a>;<a name="l00128"></a>00128 <a name="l00129"></a>00129 <span class="keywordflow">if</span>( inUse ) <span class="keywordflow">return</span> &<a class="code" href="classScurveError.html#s2">ScurveError::InUse</a>;<a name="l00130"></a>00130 <a name="l00131"></a>00131 <span class="comment">/**************************************************</span><a name="l00132"></a>00132 <span class="comment"> * Convert to floating point units if necessary</span><a name="l00133"></a>00133 <span class="comment"> **************************************************/</span><a name="l00134"></a>00134 <span class="preprocessor">#ifdef CML_ENABLE_USER_UNITS</span><a name="l00135"></a>00135 <span class="preprocessor"></span> P = dist;<a name="l00136"></a>00136 V = maxVel;<a name="l00137"></a>00137 A = maxAcc;<a name="l00138"></a>00138 D = maxDec;<a name="l00139"></a>00139 J = maxJrk;<a name="l00140"></a>00140 <span class="preprocessor">#else</span><a name="l00141"></a>00141 <span class="preprocessor"></span> P = dist;⌨️ 快捷键说明
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