This class defines a motion model, with the motion limits. More...

#include <motion.hpp>

Public Member Functions
void	applyAccelerationFactors (double &trans_vel, double &rot_vel, const double &trans_fact, const double &rot_fact, const double &time_step) const
	Modify translation and rotation given velocities, applying the extremal accelerations multiplied by the given factors during the given time step. More...

void	applyAccelerations (double &trans_vel, double &rot_vel, const double &trans_acc, const double &rot_acc, const double &time_step) const
	Modify translation and rotation given velocities, applying the given accelerations during the given time step. More...

double	limAcc (const double &lim_dist, const double &dist, const double &vel, const double &ldr_vel, const double &time_step) const
	Descriptive method, giving the limit acceleration which ensure to avoid reaching limit distance for a given distance, velocity and leader velocity. More...

const double &	maxRotAcc () const
	Descriptive method, giving the maximum rotation acceleration. More...

const double &	maxRotVel () const
	Descriptive method, giving the maximum rotation velocity. More...

const double &	maxTranslAcc () const
	Descriptive method, giving the maximum translation acceleration. More...

const double &	maxTranslVel () const
	Descriptive method, giving the maximum translation velocity. More...

const double &	minRotAcc () const
	Descriptive method, giving the minimum rotation acceleration (or maximum rotation deceleration). More...

const double &	minTranslAcc () const
	Descriptive method, giving the minimum translation acceleration (or maximum translation deceleration). More...

const double &	minTranslVel () const
	Descriptive method, giving the minimum translation velocity. More...

	MotionModel (const double &max_v, const double &max_omega, const double &max_a, const double &max_gamma)
	Minimum constructor, supposing that minimum velocities and accelerations is the opposite of the maxima. More...

	MotionModel (const double &min_v, const double &max_v, const double &max_omega, const double &min_a, const double &max_a, const double &min_gamma, const double &max_gamma)
	General constructor, supposing that minimum velocities and accelerations are not the opposite of the maxima. More...

void	set (const double values[nbLimits])
	Set the motion's limits. More...

Private Types
enum	Limits { vMin, vMax, omMax, aMin, aMax, gmMin, gmMax, nbLimits }
	These are the indexes of the array of limits. More...

Private Attributes
double	limits [nbLimits]
	The array of limits. More...

Detailed Description

This class defines a motion model, with the motion limits.

Rotation velocity has symmetric limits: minimum value is the opposite of the maximum value. Regarding both accelerations (translation and rotation), maximum acceleration limits the increase of the absolute value of the related velocity, while deceleration concerns the decrease of the absolute value.

Since: 0.2.2

Definition at line 28 of file motion.hpp.

Member Enumeration Documentation

enum MotionModel::Limits

private

These are the indexes of the array of limits.

Enumerator
vMin	Index of the minimum translation velocity.
vMax	Index of the maximum translation velocity.
omMax	Index of the maximum rotation velocity.
aMin	Index of the maximum translation deceleration.
aMax	Index of the maximum translation acceleration.
gmMin	Index of the maximum rotation deceleration.
gmMax	Index of the maximum rotation acceleration.
nbLimits	Number of limits in the array.

Definition at line 32 of file motion.hpp.

Constructor & Destructor Documentation

MotionModel::MotionModel	(	const double &	max_v,
		const double &	max_omega,
		const double &	max_a,
		const double &	max_gamma
	)

inline

Minimum constructor, supposing that minimum velocities and accelerations is the opposite of the maxima.

Parameters

max_v	the maximum translation velocity (and opposite of the minimum translation velocity),
max_omega	the maximum rotation velocity,
max_a	the maximum translation acceleration (and opposite of the minimum translation acceleration),
max_gamma	the maximum rotation acceleration (and opposite of the minimum rotation acceleration).

Definition at line 59 of file motion.hpp.

MotionModel::MotionModel	(	const double &	min_v,
		const double &	max_v,
		const double &	max_omega,
		const double &	min_a,
		const double &	max_a,
		const double &	min_gamma,
		const double &	max_gamma
	)

inline

General constructor, supposing that minimum velocities and accelerations are not the opposite of the maxima.

Parameters

min_v	the minimum translation velocity,
max_v	the maximum translation velocity,
max_omega	the maximum rotation velocity,
min_a	the minimum translation acceleration (or maximum translation deceleration),
max_a	the maximum translation acceleration,
min_gamma	the minimum rotation acceleration (or maximum rotation deceleration),
max_gamma	the maximum rotation acceleration.

Definition at line 77 of file motion.hpp.

Member Function Documentation

void MotionModel::applyAccelerationFactors	(	double &	trans_vel,
		double &	rot_vel,
		const double &	trans_fact,
		const double &	rot_fact,
		const double &	time_step
	)		const

Modify translation and rotation given velocities, applying the extremal accelerations multiplied by the given factors during the given time step.

A factor of the same sign than the velocity is multiplied by the maximum acceleration to improve the velocity in absolute value, while a factor whose sign is the opposite of the velocity's is multiplied by the maximum deceleration to reduce the velocity in absolute value. Extrema of the velocity are taken into account, as well as a possible change of sign of the velocity during the change (it changes the applied acceleration for the remaining time).

Parameters

trans_vel	the translation velocity, to update,
rot_vel	the rotation velocity, to update,
trans_fact	the translation factor, multiplied by one of the translation acceleration extrema,
rot_fact	the rotation factor, multiplied by one of the rotation acceleration extrema,
time_step	the duration of the accelerations.

Definition at line 77 of file motion.cpp.

void MotionModel::applyAccelerations	(	double &	trans_vel,
		double &	rot_vel,
		const double &	trans_acc,
		const double &	rot_acc,
		const double &	time_step
	)		const

Modify translation and rotation given velocities, applying the given accelerations during the given time step.

Extrema of the velocity and of the acceleration are taken into account, as well as a possible change of sign of the velocity during the change (it changes the acceleration extrema for the remaining time).

Parameters

trans_vel	the translation velocity, to update,
rot_vel	the rotation velocity, to update,
trans_acc	the translation acceleration,
rot_acc	the rotation acceleration,
time_step	the duration of the accelerations.

Definition at line 129 of file motion.cpp.

double MotionModel::limAcc	(	const double &	lim_dist,
		const double &	dist,
		const double &	vel,
		const double &	ldr_vel,
		const double &	time_step
	)		const

Descriptive method, giving the limit acceleration which ensure to avoid reaching limit distance for a given distance, velocity and leader velocity.

Parameters

lim_dist	the limit (minimum) distance allowed,
dist	the current distance to the leader,
vel	the current velocity of the robot,
ldr_vel	the current velocity of the leader,
time_step	the time step of the motion.

Definition at line 21 of file motion.cpp.

const double& MotionModel::maxRotAcc ( ) const

inline

Descriptive method, giving the maximum rotation acceleration.

See also: aMax.

Definition at line 114 of file motion.hpp.

const double& MotionModel::maxRotVel ( ) const

inline

Descriptive method, giving the maximum rotation velocity.

See also: omMax.

Definition at line 96 of file motion.hpp.

const double& MotionModel::maxTranslAcc ( ) const

inline

Descriptive method, giving the maximum translation acceleration.

See also: aMax.

Definition at line 105 of file motion.hpp.

const double& MotionModel::maxTranslVel ( ) const

inline

Descriptive method, giving the maximum translation velocity.

See also: vMax.

Definition at line 92 of file motion.hpp.

const double& MotionModel::minRotAcc ( ) const

inline

Descriptive method, giving the minimum rotation acceleration (or maximum rotation deceleration).

See also: gmMin.

Definition at line 110 of file motion.hpp.

const double& MotionModel::minTranslAcc ( ) const

inline

Descriptive method, giving the minimum translation acceleration (or maximum translation deceleration).

See also: aMin.

Definition at line 101 of file motion.hpp.

const double& MotionModel::minTranslVel ( ) const

inline

Descriptive method, giving the minimum translation velocity.

See also: vMin.

Definition at line 88 of file motion.hpp.

void MotionModel::set ( const double values[nbLimits] )

inline

Set the motion's limits.

Parameters

values The motion's limits in an array of nbLimits doubles, in the order defined by Limits.

See also: limits.

Definition at line 178 of file motion.hpp.

Member Data Documentation

double MotionModel::limits[nbLimits]

private

The array of limits.

Definition at line 44 of file motion.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation