Fawkes API Fawkes Development Version
emergency_motor_instruct.h
1
2/***************************************************************************
3 * emergency_motor_instruct.h - Motor instructor with quadratic approximation
4 *
5 * Created: Thu Jul 10:35:23 2014
6 * Copyright 2014 Tobias Neumann
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version.
13 *
14 * This program is distributed in the hope that it will be useful,
15 * but WITHOUT ANY WARRANTY; without even the implied warranty of
16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 * GNU Library General Public License for more details.
18 *
19 * Read the full text in the LICENSE.GPL file in the doc directory.
20 */
21
22#ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
23#define _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
24
25#include "base_motor_instruct.h"
26
27namespace fawkes {
28
30{
31public:
33 float frequency,
34 Logger * logger,
35 Configuration * config);
37
38private:
39 ///\brief linear implementation of velocity constraints
40 float calculate_rotation(float current, float desired, float time_factor);
41
42 ///\brief linear implementation of velocity constraints
43 float calculate_translation(float current, float desired, float time_factor);
44};
45
46} // namespace fawkes
47
48#endif
The Basic of a Motorinstructor.
Interface for configuration handling.
Definition: config.h:68
This module is a class for validity checks of drive commands and sets those things with respect to th...
EmergencyMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Interface for logging.
Definition: logger.h:42
MotorInterface Fawkes BlackBoard Interface.
Fawkes library namespace.