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 
27 namespace fawkes
28 {
29 #if 0 /* just to make Emacs auto-indent happy */
30 }
31 #endif
32 
34 {
35  public:
37  float frequency,
38  Logger* logger,
39  Configuration* config );
40  virtual ~EmergencyMotorInstruct();
41 
42  private:
43  ///\brief linear implementation of velocity constraints
44  float calculate_rotation( float current, float desired,float time_factor );
45 
46  ///\brief linear implementation of velocity constraints
47  float calculate_translation( float current, float desired,float time_factor );
48 };
49 
50 } // namespace fawkes
51 
52 #endif
Fawkes library namespace.
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.
The Basic of a Motorinstructor.
MotorInterface Fawkes BlackBoard Interface.
Interface for configuration handling.
Definition: config.h:67
Interface for logging.
Definition: logger.h:34