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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: LinkTrajectory Class Reference</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><h1>LinkTrajectory Class Reference</h1><!-- doxytag: class="LinkTrajectory" --><p>Inheritance diagram for LinkTrajectory:<p><center><img src="classLinkTrajectory.png" usemap="#LinkTrajectory_map" border="0" alt=""></center><map name="LinkTrajectory_map"><area href="classLinkTrjScurve.html" alt="LinkTrjScurve" shape="rect" coords="0,56,93,80"><area href="classPath.html" alt="Path" shape="rect" coords="103,56,196,80"></map><a href="classLinkTrajectory-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2><a class="el" href="classLinkage.html">Linkage</a> trajectory. <p>This class is similar to the <a class="el" href="classTrajectory.html">Trajectory</a> class, except that it is used to pass multi-axis trajectory information to a linkage rather then single axis trajectory information to a single amplifier.<p>Like the base <a class="el" href="classTrajectory.html">Trajectory</a> class, the base LinkTrajectory class is pure virtual. This class should be extended by actual trajectory implementations.<p><p>Definition at line <a class="el" href="CML__Trajectory_8h-source.html#l00111">111</a> of file <a class="el" href="CML__Trajectory_8h-source.html">CML_Trajectory.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrajectory.html#a0">StartNew</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Start a new trajectory. <a href="#a0"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrajectory.html#a1">Finish</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classTrajectory.html">Trajectory</a> finished. <a href="#a1"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual int </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrajectory.html#a2">GetDim</a> (void)=0</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of the trajectory. <a href="#a2"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrajectory.html#a3">UseVelocityInfo</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">This function indicates whether the velocity information returned by NextSegment should be used. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">virtual const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrajectory.html#a4">NextSegment</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[], <a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel[], <a class="el" href="CML__Utils_8h.html#a6">uint8</a> &time)=0</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the next segment of position, velocity & time info. <a href="#a4"></a><br></td></tr></table><hr><h2>Member Function Documentation</h2><a class="anchor" name="a1"></a><!-- doxytag: member="LinkTrajectory::Finish" ref="a1" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual void Finish </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p><a class="el" href="classTrajectory.html">Trajectory</a> finished. <p>This function is called by the <a class="el" href="classLinkage.html">Linkage</a> object when it is finished with the trajectory and no longer holding a reference to it. Typically, this will happen after the <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory::NextSegment</a> function has returned a zero time value, although it can also occure when some external event causes the trajectory to be aborted. <p>Reimplemented in <a class="el" href="classLinkTrjScurve.html#a4">LinkTrjScurve</a>.<p>Definition at line <a class="el" href="CML__Trajectory_8h-source.html#l00127">127</a> of file <a class="el" href="CML__Trajectory_8h-source.html">CML_Trajectory.h</a>. </td> </tr></table><a class="anchor" name="a2"></a><!-- doxytag: member="LinkTrajectory::GetDim" ref="a2" args="(void)=0" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual int GetDim </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [pure virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Get the dimension of the trajectory. <p>The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time <a class="el" href="classLinkTrajectory.html#a0">StartNew()</a> is called to the time <a class="el" href="classLinkTrajectory.html#a1">Finish()</a> is called. The position and velocity arrays passed to NextSegment will be of at least this size. <dl compact><dt><b>Returns:</b></dt><dd>The dimension of the trajectory. </dd></dl><p>Implemented in <a class="el" href="classPath.html#a12">Path</a>, and <a class="el" href="classLinkTrjScurve.html#a2">LinkTrjScurve</a>. </td> </tr></table><a class="anchor" name="a4"></a><!-- doxytag: member="LinkTrajectory::NextSegment" ref="a4" args="(uunit pos[], uunit vel[], uint8 &time)=0" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* NextSegment </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td> <td class="mdname" nowrap> <em>pos</em>[], </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td> <td class="mdname" nowrap> <em>vel</em>[], </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a6">uint8</a> & </td> <td class="mdname" nowrap> <em>time</em></td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"><code> [pure virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Get the next segment of position, velocity & time info. <p>Note that this function will be called from the high priority CANopen receiver task. Therefore, no lengthy processing should be done here.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>pos</em> </td><td>An array where the position values will be returned. This array will be at least D elements long, where D is the trajectory dimension as returned by <a class="el" href="classLinkTrajectory.html#a2">LinkTrajectory::GetDim()</a></td></tr> <tr><td valign="top"></td><td valign="top"><em>vel</em> </td><td>An array where the velocity values will be returned. These values are ignored if the function <a class="el" href="classLinkTrajectory.html#a3">UseVelocityInfo()</a> returns false.</td></tr> <tr><td valign="top"></td><td valign="top"><em>time</em> </td><td>The segment time is returned here. This is in milliseconds and ranges from 1 to 255. If zero is returned, this is the last frame in the profile.</td></tr> </table></dl><dl compact><dt><b>Returns:</b></dt><dd>A pointer to an error object on failure, or NULL on success. </dd></dl><p>Implemented in <a class="el" href="classPath.html#a13">Path</a>, and <a class="el" href="classLinkTrjScurve.html#a5">LinkTrjScurve</a>. </td> </tr></table><a class="anchor" name="a0"></a><!-- doxytag: member="LinkTrajectory::StartNew" ref="a0" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* StartNew </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Start a new trajectory. <p>This function is called before the first call to <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory::NextSegment</a>. It gives the trajectory object a chance to return an error indicating that it isn't ready to be sent. <dl compact><dt><b>Returns:</b></dt><dd>An error pointer if the trajectory object is not available, or NULL if it is ready to be sent. </dd></dl><p>Reimplemented in <a class="el" href="classPath.html#a14">Path</a>, and <a class="el" href="classLinkTrjScurve.html#a3">LinkTrjScurve</a>.<p>Definition at line <a class="el" href="CML__Trajectory_8h-source.html#l00120">120</a> of file <a class="el" href="CML__Trajectory_8h-source.html">CML_Trajectory.h</a>. </td> </tr></table><a class="anchor" name="a3"></a><!-- doxytag: member="LinkTrajectory::UseVelocityInfo" ref="a3" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">virtual bool UseVelocityInfo </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>This function indicates whether the velocity information returned by NextSegment should be used. <p>If this returns true, then the amplifier will operate in PVT mode and use cubic polynomial interpolation between trajectory segments. If this returns false, then the velocity returned by NextSegment will be ignored, and the amplifier will run in PT mode using linear interpolation between sets of points.<p><dl compact><dt><b>Returns:</b></dt><dd>true if velocity information should be used (default), or false if velocities should be ignored. </dd></dl><p>Definition at line <a class="el" href="CML__Trajectory_8h-source.html#l00145">145</a> of file <a class="el" href="CML__Trajectory_8h-source.html">CML_Trajectory.h</a>. </td> </tr></table><hr>The documentation for this class was generated from the following file:<ul><li><a class="el" href="CML__Trajectory_8h-source.html">CML_Trajectory.h</a></ul><hr><address style="align: right;"><small>Copley Motion Library, Copyright (c) 2002-2003<a href="http://www.copleycontrols.com"><img src="CCC_logo.gif" alt="Copley Controls Corp." align="middle" border=0 ></a></small></address></body></html>⌨️ 快捷键说明
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