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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_Trajectory.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_Trajectory.h</h1><a href="CML__Trajectory_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 <a name="l00015"></a>00015 <span class="preprocessor">#ifndef _DEF_INC_TRAJECTORY</span><a name="l00016"></a>00016 <span class="preprocessor"></span><span class="preprocessor">#define _DEF_INC_TRAJECTORY</span><a name="l00017"></a>00017 <span class="preprocessor"></span><a name="l00018"></a>00018 <span class="preprocessor">#include "<a class="code" href="CML__Settings_8h.html">CML_Settings.h</a>"</span><a name="l00019"></a>00019 <span class="preprocessor">#include "<a class="code" href="CML__Error_8h.html">CML_Error.h</a>"</span><a name="l00020"></a>00020 <span class="preprocessor">#include "<a class="code" href="CML__Utils_8h.html">CML_Utils.h</a>"</span><a name="l00021"></a>00021 <a name="l00022"></a>00022 <a class="code" href="CML__Settings_8h.html#a11">CML_NAMESPACE_START</a>()<a name="l00023"></a>00023 <a name="l00024"></a>00024 <span class="comment">/***************************************************************************/</span><span class="comment"></span><a name="l00025"></a>00025 <span class="comment">/**</span><a name="l00026"></a>00026 <span class="comment">Trajectory information class.</span><a name="l00027"></a>00027 <span class="comment"></span><a name="l00028"></a>00028 <span class="comment">One of the control modes supported by the Copley Controls amplifiers is</span><a name="l00029"></a>00029 <span class="comment">called interpolated position mode. This allows complex trajectories to be</span><a name="l00030"></a>00030 <span class="comment">generated by the CANopen master controller, and streamed to one or more</span><a name="l00031"></a>00031 <span class="comment">amplifiers in real time. Each point on the trajectory contains three </span><a name="l00032"></a>00032 <span class="comment">pieces of information; Position, Velocity, and Time until the next point.</span><a name="l00033"></a>00033 <span class="comment">For this reason, these trajectories are also often called PVT profiles.</span><a name="l00034"></a>00034 <span class="comment"></span><a name="l00035"></a>00035 <span class="comment">The Amp object contains support for streaming a PVT trajectory down to </span><a name="l00036"></a>00036 <span class="comment">the amplifier automatically (see Amp::SendTrajectory). This virtual class </span><a name="l00037"></a>00037 <span class="comment">provides the interface through which the trajectory data is retrieved by the </span><a name="l00038"></a>00038 <span class="comment">Amp object.</span><a name="l00039"></a>00039 <span class="comment"></span><a name="l00040"></a>00040 <span class="comment">Note that this pure virtual class provides no actual implementation code.</span><a name="l00041"></a>00041 <span class="comment">The calculation of the trajectory points is the responsibility of the </span><a name="l00042"></a>00042 <span class="comment">inheriting class.</span><a name="l00043"></a>00043 <span class="comment">*/</span><a name="l00044"></a>00044 <span class="comment">/***************************************************************************/</span><a name="l00045"></a><a class="code" href="classTrajectory.html">00045</a> class <a class="code" href="classTrajectory.html">Trajectory</a><a name="l00046"></a>00046 {<a name="l00047"></a>00047 <span class="keyword">public</span>:<a name="l00048"></a>00048 <span class="comment"></span><a name="l00049"></a>00049 <span class="comment"> /// Start a new trajectory. This function is called by Amp::SendTrajectory</span><a name="l00050"></a>00050 <span class="comment"> /// before the first call to Trajectory::NextSegment. It gives the trajectory</span><a name="l00051"></a>00051 <span class="comment"> /// object a chance to return an error indicating that it isn't ready to be sent.</span><a name="l00052"></a>00052 <span class="comment"> /// @return An error pointer if the trajectory object is not available, or NULL</span><a name="l00053"></a>00053 <span class="comment"> /// if it is ready to be sent.</span><a name="l00054"></a><a class="code" href="classTrajectory.html#a0">00054</a> <span class="comment"></span> <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *StartNew( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> 0;}<a name="l00055"></a>00055 <span class="comment"></span><a name="l00056"></a>00056 <span class="comment"> /// Trajectory finished. This function is called by the Amp object when it is</span><a name="l00057"></a>00057 <span class="comment"> /// finished with the trajectory object and no longer holding a reference to it.</span><a name="l00058"></a>00058 <span class="comment"> /// Typically, this will happen after the Trajectory::NextSegment function has </span><a name="l00059"></a>00059 <span class="comment"> /// returned a zero time value, although it can also occure when some external </span><a name="l00060"></a>00060 <span class="comment"> /// event causes the Amp object to abort a running trajectory.</span><a name="l00061"></a><a class="code" href="classTrajectory.html#a1">00061</a> <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> Finish( <span class="keywordtype">void</span> ){}<a name="l00062"></a>00062 <span class="comment"></span><a name="l00063"></a>00063 <span class="comment"> /// This function indicates whether the velocity information returned by </span><a name="l00064"></a>00064 <span class="comment"> /// NextSegment should be used. If this returns true, then the amplifier </span><a name="l00065"></a>00065 <span class="comment"> /// will operate in PVT mode and use cubic polynomial interpolation between</span><a name="l00066"></a>00066 <span class="comment"> /// trajectory segments. If this returns false, then the velocity returned</span><a name="l00067"></a>00067 <span class="comment"> /// by NextSegment will be ignored, and the amplifier will run in PT mode</span><a name="l00068"></a>00068 <span class="comment"> /// using linear interpolation between sets of points.</span><a name="l00069"></a>00069 <span class="comment"> ///</span><a name="l00070"></a>00070 <span class="comment"> /// @return true if velocity information should be used (default), or </span><a name="l00071"></a>00071 <span class="comment"> /// false if velocities should be ignored.</span><a name="l00072"></a><a class="code" href="classTrajectory.html#a2">00072</a> <span class="comment"></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> UseVelocityInfo( <span class="keywordtype">void</span> ){ <span class="keywordflow">return</span> <span class="keyword">true</span>; }<a name="l00073"></a>00073 <span class="comment"></span><a name="l00074"></a>00074 <span class="comment"> /// Get the next segment of position, velocity & time info.</span><a name="l00075"></a>00075 <span class="comment"> /// Note that this function will be called from the high </span><a name="l00076"></a>00076 <span class="comment"> /// priority CANopen receiver task. Therefore, no lengthy </span><a name="l00077"></a>00077 <span class="comment"> /// processing should be done here.</span><a name="l00078"></a>00078 <span class="comment"> ///</span><a name="l00079"></a>00079 <span class="comment"> /// @param pos The new position value is returned here.</span><a name="l00080"></a>00080 <span class="comment"> /// This parameter is specified in "user units". See </span><a name="l00081"></a>00081 <span class="comment"> /// Amp::SetCountsPerUnit for details.</span><a name="l00082"></a>00082 <span class="comment"> ///</span><a name="l00083"></a>00083 <span class="comment"> /// @param vel The new velocity value is returned here.</span><a name="l00084"></a>00084 <span class="comment"> /// This parameter is specified in "user units". See </span><a name="l00085"></a>00085 <span class="comment"> /// Amp::SetCountsPerUnit for details.</span><a name="l00086"></a>00086 <span class="comment"> /// Note that the velocity data will be ignored if the </span><a name="l00087"></a>00087 <span class="comment"> /// function UseVelocityInfo() returns false.</span>⌨️ 快捷键说明
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