cml__trjscurve_8h-source.html

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<a name="l00063"></a>00063 <span class="comment">may be either passed to the TrjScurve::Calculate function, or set using </span>
<a name="l00064"></a>00064 <span class="comment">TrjScurve::SetStartPos.</span>
<a name="l00065"></a>00065 <span class="comment">*/</span>
<a name="l00066"></a>00066 <span class="comment">/***************************************************************************/</span>
<a name="l00067"></a><a class="code" href="classTrjScurve.html">00067</a> <span class="keyword">class </span><a class="code" href="classTrjScurve.html">TrjScurve</a>: <span class="keyword">public</span> <a class="code" href="classTrajectory.html">Trajectory</a> 
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069    <span class="keywordtype">bool</span> inUse;
<a name="l00070"></a>00070    <span class="keywordtype">bool</span> init;
<a name="l00071"></a>00071    <span class="keywordtype">double</span> P, V, A, D, J;
<a name="l00072"></a>00072    <span class="keywordtype">double</span> tj, tk, ta, td, tv;
<a name="l00073"></a>00073 
<a name="l00074"></a>00074    <a class="code" href="CML__Utils_8h.html#a11">uunit</a> start;
<a name="l00075"></a>00075 
<a name="l00076"></a>00076    <span class="keywordtype">int</span> seg;
<a name="l00077"></a>00077    <span class="keywordtype">double</span> p,v,a,j;
<a name="l00078"></a>00078    <span class="keywordtype">double</span> remain;
<a name="l00079"></a>00079 
<a name="l00080"></a>00080    <span class="keywordtype">int</span> AdvanceSegment( <span class="keywordtype">double</span> &amp;tf );
<a name="l00081"></a>00081 
<a name="l00082"></a>00082 <span class="keyword">public</span>:
<a name="l00083"></a>00083    <a class="code" href="classTrjScurve.html">TrjScurve</a>();
<a name="l00084"></a>00084 
<a name="l00085"></a>00085    <span class="keywordtype">void</span>  SetStartPos( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> s );
<a name="l00086"></a>00086    <a class="code" href="CML__Utils_8h.html#a11">uunit</a> GetStartPos( <span class="keywordtype">void</span> );
<a name="l00087"></a>00087    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *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="l00088"></a>00088    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *Calculate( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> dist, <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="l00089"></a>00089 
<a name="l00090"></a>00090    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classTrjScurve.html#a5">StartNew</a>( <span class="keywordtype">void</span> );
<a name="l00091"></a>00091    <span class="keywordtype">void</span> <a class="code" href="classTrjScurve.html#a6">Finish</a>( <span class="keywordtype">void</span> );
<a name="l00092"></a>00092    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classTrjScurve.html#a7">NextSegment</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &amp;pos, <a class="code" href="CML__Utils_8h.html#a11">uunit</a> &amp;vel, <a class="code" href="CML__Utils_8h.html#a6">uint8</a> &amp;time );
<a name="l00093"></a>00093 };
<a name="l00094"></a>00094 
<a name="l00095"></a>00095 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment">/**</span>
<a name="l00097"></a>00097 <span class="comment">Multi-axis s-curve profile.  This extends the single axis TrjScurve object</span>
<a name="l00098"></a>00098 <span class="comment">for use in multi-axis linkage moves.</span>
<a name="l00099"></a>00099 <span class="comment">*/</span>
<a name="l00100"></a>00100 <span class="comment">/***************************************************************************/</span>
<a name="l00101"></a><a class="code" href="classLinkTrjScurve.html">00101</a> <span class="keyword">class </span><a class="code" href="classLinkTrjScurve.html">LinkTrjScurve</a>: <span class="keyword">public</span> <a class="code" href="classLinkTrajectory.html">LinkTrajectory</a>
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103    <a class="code" href="classTrjScurve.html">TrjScurve</a> trj;
<a name="l00104"></a>00104    <a class="code" href="classPoint.html">Point&lt;CML_MAX_AMPS_PER_LINK&gt;</a> start;
<a name="l00105"></a>00105    <span class="keywordtype">double</span> scale[<a class="code" href="CML__Settings_8h.html#a6">CML_MAX_AMPS_PER_LINK</a>];
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="keyword">public</span>:
<a name="l00108"></a>00108    <a class="code" href="classLinkTrjScurve.html">LinkTrjScurve</a>();
<a name="l00109"></a>00109 
<a name="l00110"></a>00110    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *Calculate( <a class="code" href="classPointN.html">PointN</a> &amp;start, <a class="code" href="classPointN.html">PointN</a> &amp;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="l00111"></a><a class="code" href="classLinkTrjScurve.html#a2">00111</a>    <span class="keywordtype">int</span> <a class="code" href="classLinkTrjScurve.html#a2">GetDim</a>( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> start.<a class="code" href="classPointN.html#a0">getDim</a>(); }
<a name="l00112"></a>00112 
<a name="l00113"></a>00113    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkTrjScurve.html#a3">StartNew</a>( <span class="keywordtype">void</span> );
<a name="l00114"></a>00114    <span class="keywordtype">void</span> <a class="code" href="classLinkTrjScurve.html#a4">Finish</a>( <span class="keywordtype">void</span> );
<a name="l00115"></a>00115    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classLinkTrjScurve.html#a5">NextSegment</a>( <a class="code" href="CML__Utils_8h.html#a11">uunit</a> pos[], <a class="code" href="CML__Utils_8h.html#a11">uunit</a> vel[], <a class="code" href="CML__Utils_8h.html#a6">uint8</a> &amp;time );
<a name="l00116"></a>00116 
<a name="l00117"></a>00117 };
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 <a class="code" href="CML__Settings_8h.html#a12">CML_NAMESPACE_END</a>()
<a name="l00120"></a>00120 
<a name="l00121"></a>00121 #endif
<a name="l00122"></a>00122 
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