Fawkes API Fawkes Development Version
linear_motor_instruct.h
1
2/***************************************************************************
3 * quadratic_motor_instruct.h - Motor instructor with quadratic approximation
4 *
5 * Created: Fri Oct 18 15:16:23 2013
6 * Copyright 2002 Stefan Jacobs
7 * 2013 Bahram Maleki-Fard
8 * 2014 Tobias Neumann
9 ****************************************************************************/
10
11/* This program is free software; you can redistribute it and/or modify
12 * it under the terms of the GNU General Public License as published by
13 * the Free Software Foundation; either version 2 of the License, or
14 * (at your option) any later version.
15 *
16 * This program is distributed in the hope that it will be useful,
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 * GNU Library General Public License for more details.
20 *
21 * Read the full text in the LICENSE.GPL file in the doc directory.
22 */
23
24#ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_LINEAR_MOTORINSTRUCT_H_
25#define _PLUGINS_COLLI_DRIVE_REALIZATION_LINEAR_MOTORINSTRUCT_H_
26
27#include "base_motor_instruct.h"
28
29namespace fawkes {
30
32{
33public:
35 float frequency,
36 Logger * logger,
37 Configuration * config);
38 virtual ~LinearMotorInstruct();
39
40private:
41 ///\brief linear implementation of velocity constraints
42 float calculate_rotation(float current, float desired, float time_factor);
43
44 ///\brief linear implementation of velocity constraints
45 float calculate_translation(float current, float desired, float time_factor);
46};
47
48} // namespace fawkes
49
50#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...
virtual ~LinearMotorInstruct()
Destructor.
LinearMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Interface for logging.
Definition: logger.h:42
MotorInterface Fawkes BlackBoard Interface.
Fawkes library namespace.