cml__trjscurve_8h-source.html
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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: CML_TrjScurve.h 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_000001.html">inc</a></div><h1>CML_TrjScurve.h</h1><a href="CML__TrjScurve_8h.html">Go to the documentation of this file.</a><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 <span class="comment"></span><a name="l00012"></a>00012 <span class="comment">/** \file</span><a name="l00013"></a>00013 <span class="comment"></span><a name="l00014"></a>00014 <span class="comment">This file defines the TrjScurve class. This class is used to </span><a name="l00015"></a>00015 <span class="comment">calculate asymmetric S-curve trajectory profiles for use by </span><a name="l00016"></a>00016 <span class="comment">the Amp or Linkage objects.</span><a name="l00017"></a>00017 <span class="comment"></span><a name="l00018"></a>00018 <span class="comment">*/</span><a name="l00019"></a>00019 <a name="l00020"></a>00020 <span class="preprocessor">#ifndef _DEF_INC_TRJSCURVE</span><a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_TRJSCURVE</span><a name="l00022"></a>00022 <span class="preprocessor"></span><a name="l00023"></a>00023 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00024"></a>00024 <span class="preprocessor">#include "<a class="code" href="CML__Trajectory_8h.html">CML_Trajectory.h</a>"</span><a name="l00025"></a>00025 <a name="l00026"></a>00026 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00027"></a>00027 <a name="l00028"></a>00028 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00029"></a>00029 <span class="comment">/**</span><a name="l00030"></a>00030 <span class="comment">This class represents error conditions that can occur in the TrjScurve class.</span><a name="l00031"></a>00031 <span class="comment">*/</span><a name="l00032"></a>00032 <span class="comment">/***************************************************************************/</span><a name="l00033"></a><a class="code" href="classScurveError.html">00033</a> class <a class="code" href="classScurveError.html">ScurveError</a>: public <a class="code" href="classError.html">Error</a><a name="l00034"></a>00034 {<a name="l00035"></a>00035 <span class="keyword">public</span>:<a name="l00036"></a><a class="code" href="classScurveError.html#s0">00036</a> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classScurveError.html">ScurveError</a> BadParam; <span class="comment">///< Illegal input parameter</span><a name="l00037"></a><a class="code" href="classScurveError.html#s1">00037</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classScurveError.html">ScurveError</a> NoCalc; <span class="comment">///< Trjaectory has not been calculated</span><a name="l00038"></a><a class="code" href="classScurveError.html#s2">00038</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classScurveError.html">ScurveError</a> InUse; <span class="comment">///< Trajectory is currently in use</span><a name="l00039"></a><a class="code" href="classScurveError.html#s3">00039</a> <span class="comment"></span> <span class="keyword">static</span> <span class="keyword">const</span> <a class="code" href="classScurveError.html">ScurveError</a> NotInUse; <span class="comment">///< Trajectory has not been started</span><a name="l00040"></a>00040 <span class="comment"></span><a name="l00041"></a>00041 <span class="keyword">protected</span>:<span class="comment"></span><a name="l00042"></a>00042 <span class="comment"> /// Standard protected constructor</span><a name="l00043"></a><a class="code" href="classScurveError.html#b0">00043</a> <span class="comment"></span> <a class="code" href="classScurveError.html">ScurveError</a>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> <span class="keywordtype">id</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *desc ): Error( id, desc ){}<a name="l00044"></a>00044 };<a name="l00045"></a>00045 <a name="l00046"></a>00046 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00047"></a>00047 <span class="comment">/**</span><a name="l00048"></a>00048 <span class="comment">Asymmetric S-curve profile generator. </span><a name="l00049"></a>00049 <span class="comment"></span><a name="l00050"></a>00050 <span class="comment">A symmetric S-curve profile uses the same constraint for acceleration & </span><a name="l00051"></a>00051 <span class="comment">deceleration. Asymmetric profiles use different acceleration & deceleration</span><a name="l00052"></a>00052 <span class="comment">values. Copley amplifiers are able to calculate symmetric profiles internally,</span><a name="l00053"></a>00053 <span class="comment">however if asymmetric s-curve profiles are required then they must be calculate</span><a name="l00054"></a>00054 <span class="comment">external to the amplifier, and passed to it using PVT profile mode.</span><a name="l00055"></a>00055 <span class="comment"></span><a name="l00056"></a>00056 <span class="comment">This class extends the generic Trajectory class, and provides the code necessary</span><a name="l00057"></a>00057 <span class="comment">to calculate an asymmetric s-curve profile. Since it extends the Trajectory</span><a name="l00058"></a>00058 <span class="comment">object, it may be passed to the Amp::SendTrajectory function.</span><a name="l00059"></a>00059 <span class="comment"></span><a name="l00060"></a>00060 <span class="comment">Internally, the s-curve profile is stored as an absolute move from some starting</span><a name="l00061"></a>00061 <span class="comment">position. This allows the same trajectory object to be reused for multiple moves</span><a name="l00062"></a>00062 <span class="comment">of the same distance from different starting positions. The starting position</span>⌨️ 快捷键说明
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