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 
29 namespace fawkes
30 {
31 #if 0 /* just to make Emacs auto-indent happy */
32 }
33 #endif
34 
36 {
37  public:
39  float frequency,
40  Logger* logger,
41  Configuration* config );
42  virtual ~LinearMotorInstruct();
43 
44  private:
45  ///\brief linear implementation of velocity constraints
46  float calculate_rotation( float current, float desired, float time_factor );
47 
48  ///\brief linear implementation of velocity constraints
49  float calculate_translation( float current, float desired, float time_factor );
50 };
51 
52 } // namespace fawkes
53 
54 #endif
Fawkes library namespace.
LinearMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
The Basic of a Motorinstructor.
MotorInterface Fawkes BlackBoard Interface.
virtual ~LinearMotorInstruct()
Destructor.
This module is a class for validity checks of drive commands and sets those things with respect to th...
Interface for configuration handling.
Definition: config.h:67
Interface for logging.
Definition: logger.h:34