SineMC Class Reference
Moves one or more outputs through a sinusoidal pattern. More...
#include <SineMC.h>
Detailed Description
Moves one or more outputs through a sinusoidal pattern.
Definition at line 10 of file SineMC.h.
Public Member Functions | |
| SineMC () | |
| constructor, sets default parameters to use full range of each joint, with a period of 2 seconds, but all weights to zero | |
| virtual void | setWeight (unsigned int i, float w) |
| sets the weight of an output, zero-weighted outputs are ignored | |
| virtual float | getWeight (unsigned int i) const |
| gets the weight of an output, zero-weighted outputs are ignored | |
| virtual void | setParams (unsigned int i, float amplitude, unsigned int period_time, float offset_value, unsigned int offset_time) |
| sets the sine wave parameters | |
| virtual void | setParams (unsigned int i, float amplitude, unsigned int period_time, float offset_value) |
| sets the sine wave parameters | |
| virtual float | getAmplitude (unsigned int i) const |
| gets the peak-to-center amplitude | |
| virtual unsigned int | getPeriod (unsigned int i) const |
| gets the period of the oscillation (milliseconds) | |
| virtual float | getOffsetValue (unsigned int i) const |
| gets the center position of the oscillation | |
| virtual unsigned int | getOffsetTime (unsigned int i) const |
| gets the phase shift of the oscillation | |
| virtual float | getPhase (unsigned int i) const |
| returns the percent of period completed | |
| virtual float | getCount (unsigned int i) const |
| returns the percent of period completed | |
| virtual float | getPosition (unsigned int i) const |
| returns the current target position of the specified output | |
| virtual float | getSpeed (unsigned int i) const |
| returns the current target speed of the specified output (radians/sec) | |
| virtual float | getAcceleration (unsigned int i) const |
| returns the current target acceleration of the specified output (radians/sec^2) | |
| virtual void | sync (unsigned int i) |
| sets the offset_time of a specified output to match its current position so it won't suddenly snap to a new position | |
| virtual void | sync (unsigned int i, unsigned int t) |
| sets the offset_time of a specified output to match its current position so it won't suddenly snap to a new position | |
| virtual void | syncAll () |
| sets the offset_time of all non-zero weighted joints to use the closest common phase, keeping all outputs in phase | |
| virtual int | updateOutputs () |
| is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager | |
| virtual int | isDirty () |
| not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful | |
| virtual int | isAlive () |
| used to prune "dead" motions from the MotionManager | |
Protected Attributes | |
| OutputCmd | cmds [NumOutputs] |
| float | amp [NumOutputs] |
| unsigned int | period [NumOutputs] |
| float | offset [NumOutputs] |
| unsigned int | start [NumOutputs] |
| unsigned int | lastUpdate |
Constructor & Destructor Documentation
| SineMC::SineMC | ( | ) |
Member Function Documentation
| virtual float SineMC::getAcceleration | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getAmplitude | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getCount | ( | unsigned int | i | ) | const [virtual] |
returns the percent of period completed
Definition at line 70 of file SineMC.h.
Referenced by getPhase().
| virtual unsigned int SineMC::getOffsetTime | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getOffsetValue | ( | unsigned int | i | ) | const [virtual] |
| virtual unsigned int SineMC::getPeriod | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getPhase | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getPosition | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getSpeed | ( | unsigned int | i | ) | const [virtual] |
| virtual float SineMC::getWeight | ( | unsigned int | i | ) | const [virtual] |
| virtual int SineMC::isAlive | ( | ) | [virtual] |
used to prune "dead" motions from the MotionManager
note that a motion could be "paused" or inactive and therefore not dirty, but still alive, biding its time to "strike" ;)
- Returns:
- zero if the motion is still processing, non-zero otherwise
Implements MotionCommand.
| virtual int SineMC::isDirty | ( | ) | [virtual] |
not used by MotionManager at the moment, but could be used to reduce recomputation, and you may find it useful
- Returns:
- zero if none of the commands have changed since last getJointCmd(), else non-zero
Implements MotionCommand.
| virtual void SineMC::setParams | ( | unsigned int | i, | |
| float | amplitude, | |||
| unsigned int | period_time, | |||
| float | offset_value | |||
| ) | [virtual] |
sets the sine wave parameters
- Parameters:
-
i the index of the output amplitude the peak-to-center amplitude period_time the period of the oscillation (milliseconds) offset_value sets the center position of the oscillation
The offset time is synced to maintain current position. If the output weight is 0, it is set to 1.
| virtual void SineMC::setParams | ( | unsigned int | i, | |
| float | amplitude, | |||
| unsigned int | period_time, | |||
| float | offset_value, | |||
| unsigned int | offset_time | |||
| ) | [virtual] |
sets the sine wave parameters
- Parameters:
-
i the index of the output amplitude the peak-to-center amplitude period_time the period of the oscillation (milliseconds) offset_value sets the center position of the oscillation offset_time sets the phase shift of the oscillation
If the output weight is 0, it is set to 1.
| virtual void SineMC::setWeight | ( | unsigned int | i, | |
| float | w | |||
| ) | [virtual] |
| virtual void SineMC::sync | ( | unsigned int | i, | |
| unsigned int | t | |||
| ) | [virtual] |
| virtual void SineMC::sync | ( | unsigned int | i | ) | [virtual] |
| virtual void SineMC::syncAll | ( | ) | [virtual] |
| virtual int SineMC::updateOutputs | ( | ) | [virtual] |
is called once per update cycle, can do any processing you need to change your priorities or set output commands on the MotionManager
- Returns:
- zero if no changes were made, non-zero otherwise
- See also:
- RobotInfo::NumFrames
- RobotInfo::FrameTime
Implements MotionCommand.
Member Data Documentation
float SineMC::amp[NumOutputs] [protected] |
Definition at line 155 of file SineMC.h.
Referenced by getAcceleration(), getAmplitude(), getSpeed(), setParams(), SineMC(), sync(), and updateOutputs().
OutputCmd SineMC::cmds[NumOutputs] [protected] |
Definition at line 154 of file SineMC.h.
Referenced by getAcceleration(), getPosition(), getSpeed(), getWeight(), setParams(), setWeight(), syncAll(), and updateOutputs().
unsigned int SineMC::lastUpdate [protected] |
Definition at line 159 of file SineMC.h.
Referenced by getAcceleration(), getSpeed(), SineMC(), and updateOutputs().
float SineMC::offset[NumOutputs] [protected] |
Definition at line 157 of file SineMC.h.
Referenced by getOffsetValue(), setParams(), SineMC(), sync(), and updateOutputs().
unsigned int SineMC::period[NumOutputs] [protected] |
Definition at line 156 of file SineMC.h.
Referenced by getAcceleration(), getCount(), getPeriod(), getSpeed(), setParams(), SineMC(), sync(), and updateOutputs().
unsigned int SineMC::start[NumOutputs] [protected] |
The documentation for this class was generated from the following file:
