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 
28 namespace fawkes
29 {
30 #if 0 /* just to make Emacs auto-indent happy */
31 }
32 #endif
33 
35 {
36  public:
38  float frequency,
39  Logger* logger,
40  Configuration* config );
41  virtual ~QuadraticMotorInstruct();
42 
43  private:
44  ///\brief linear implementation of velocity constraints
45  float calculate_rotation( float current, float desired, float time_factor );
46 
47  ///\brief linear implementation of velocity constraints
48  float calculate_translation( float current, float desired, float time_factor );
49 };
50 
51 } // namespace fawkes
52 #endif
This module is a class for validity checks of drive commands and sets those things with respect to th...
Fawkes library namespace.
QuadraticMotorInstruct(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