Fawkes API Fawkes Development Version
quadratic_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 ****************************************************************************/
9
10/* This program is free software; you can redistribute it and/or modify
11 * it under the terms of the GNU General Public License as published by
12 * the Free Software Foundation; either version 2 of the License, or
13 * (at your option) any later version.
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL file in the doc directory.
21 */
22
23#ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_QUADRATIC_MOTORINSTRUCT_H_
24#define _PLUGINS_COLLI_DRIVE_REALIZATION_QUADRATIC_MOTORINSTRUCT_H_
25
26#include "base_motor_instruct.h"
27
28namespace fawkes {
29
31{
32public:
34 float frequency,
35 Logger * logger,
36 Configuration * config);
38
39private:
40 ///\brief linear implementation of velocity constraints
41 float calculate_rotation(float current, float desired, float time_factor);
42
43 ///\brief linear implementation of velocity constraints
44 float calculate_translation(float current, float desired, float time_factor);
45};
46
47} // namespace fawkes
48#endif
The Basic of a Motorinstructor.
Interface for configuration handling.
Definition: config.h:68
Interface for logging.
Definition: logger.h:42
MotorInterface Fawkes BlackBoard Interface.
This module is a class for validity checks of drive commands and sets those things with respect to th...
QuadraticMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Fawkes library namespace.