This class contains the API of the Reflexxes Motion Library (Type I) More...

#include <TypeIRML.h>

Public Types
enum	TypeIRMLResult { RML_ERROR = -1, RML_MAX_VELOCITY_ERROR = -200, RML_MAX_ACCELERATION_ERROR = -201, RML_WORKING = 0, RML_FINAL_STATE_REACHED = 1 }
	Result values of the methods TypeIRML::GetNextMotionState_Position() and TypeIRML::GetNextMotionState_Velocity() More...
Public Member Functions
	TypeIRML (const unsigned int &NoOfDOFs, const double &CycleTimeInSeconds)
	Constructor of the class TypeIRML.
	~TypeIRML (void)
	Destructor of the class TypeIRML.
int	GetNextMotionState_Position (const double CurrentPosition, const double CurrentVelocity, const double MaxVelocity, const double MaxAcceleration, const double TargetPosition, const bool SelectionVector, double NewPosition, double NewVelocity)
	Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target position-based trajectory generation.
int	GetNextMotionState_Position (const TypeIRMLInputParameters &IP, TypeIRMLOutputParameters *OP)
	Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target position-based trajectory generation.
int	GetNextMotionState_Velocity (const double CurrentPosition, const double CurrentVelocity, const double MaxAcceleration, const double TargetVelocity, const bool SelectionVector, double NewPosition, double *NewVelocity)
	Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target velocity-based trajectory generation.
int	GetNextMotionState_Velocity (const TypeIRMLInputParameters &IP, TypeIRMLOutputParameters *OP)
	Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target velocity-based trajectory generation.
double	GetExecutionTime (void) const
	Returns the time in seconds that is required to time-optimally reach the desired target state of motion.
Private Member Functions
double	CalculateMinimumSynchronizationTime (const TypeIRMLMath::TypeIRMLInputParameters &IP) const
	Calculates and returns the minimum synchronization time.
void	SynchronizeTrajectory (const TypeIRMLMath::TypeIRMLInputParameters &IP, const double &SynchronizationTime, TypeIRMLMath::TypeIMotionPolynomials *PolynomialArray)
	Computes time-synchronized trajectories for all selected DOFs.
int	CalculateOutputValues (const TypeIRMLMath::TypeIMotionPolynomials PolynomialArray, const TypeIRMLBoolVector &SelectionVector, TypeIRMLMath::TypeIRMLOutputParameters OP)
	Computes the output values for of the method GetNextMotionState_Position()
Private Attributes
int	NumberOfDOFs
	Number of degrees of freedom.
double	CycleTime
	Cycle time in seconds.
double	InternalClockInSeconds
	Internal time. This time will set to zero if the input values have changed. Otherwise, this value will be incremented by `CycleTime` during every call of GetNextMotionState_Position() or GetNextMotionState_Velocity()
double	TrajectoryExecutionTimeForTheUser
	Time in seconds until the final state of motion has been reached.
TypeIRMLMath::TypeIRMLInputParameters *	CurrentInputParameters
	Pointer to an object of the class TypeIRMLInputParameters.
TypeIRMLMath::TypeIRMLOutputParameters *	OutputParameters
	Pointer to an object of the class TypeIRMLOutputParameters.
TypeIRMLMath::TypeIMotionPolynomials *	Polynomials
	Pointer to an array of TypeIMotionPolynomials objects.

Detailed Description

This class contains the API of the Reflexxes Motion Library (Type I)

The algorithm works with an arbitrary number of degrees of freedom. It can handle and proceed with any state of motion, that is, a new motion trajectory can be generated in any situation after any sensor event within the same control cycle. Further and detailed information can be found in

T. Kroeger.
On-Line Trajectory Generation in Robotic Systems.
Springer Tracts in Advanced Robotics, Vol. 58, Springer, January 2010.
http://www.springer.com/978-3-642-05174-6.

Definition at line 87 of file TypeIRML.h.

Member Enumeration Documentation

enum TypeIRML::TypeIRMLResult

Result values of the methods TypeIRML::GetNextMotionState_Position() and TypeIRML::GetNextMotionState_Velocity()

Enumerator:

RML_ERROR	A general error.
RML_MAX_VELOCITY_ERROR	The specified maximum velocity value of at least one degree of freedom is below the threshold of RML_MIN_VALUE_FOR_MAXVELOCITY.
RML_MAX_ACCELERATION_ERROR	The specified maximum acceleration value of at least one degree of freedom is below the threshold of RML_MIN_VALUE_FOR_MAXACCELERATION.
RML_WORKING	The on-line trajectory generation algorithm is working; the final state of motion has not been reached yet.
RML_FINAL_STATE_REACHED	The desired final state of motion has been reached.

Definition at line 123 of file TypeIRML.h.

Constructor & Destructor Documentation

TypeIRML::TypeIRML	(	const unsigned int &	NoOfDOFs,
		const double &	CycleTimeInSeconds
	)

Constructor of the class TypeIRML.

Parameters:

NoOfDOFs	Indicates the number of degrees of freedom
CycleTimeInSeconds	Indicates the cycle time in seconds for the generator. A typical value is 0.001 (seconds).

Definition at line 68 of file TypeIRML.cpp.

TypeIRML::~TypeIRML ( void )

Destructor of the class TypeIRML.

Definition at line 85 of file TypeIRML.cpp.

Member Function Documentation

double TypeIRML::CalculateMinimumSynchronizationTime ( const TypeIRMLMath::TypeIRMLInputParameters & IP ) const [private]

Calculates and returns the minimum synchronization time.

This method computes the minimum execution time for each selected DOF, determines the maximum one, and returns this value.

Parameters:

IP	Pointer to the input parameters of the current call of GetNextMotionState_Position()

Remarks:: In the context of the on-line trajectory generation framework, this method is considered as Step 1.

Returns:: The value of the minimum synchronization time in seconds.

Definition at line 192 of file TypeIRML.cpp.

int TypeIRML::CalculateOutputValues	(	const TypeIRMLMath::TypeIMotionPolynomials *	PolynomialArray,
		const TypeIRMLBoolVector &	SelectionVector,
		TypeIRMLMath::TypeIRMLOutputParameters *	OP
	)		`[private]`

Computes the output values for of the method GetNextMotionState_Position()

Based on all polynomial parameters that have been calculated by the method SynchronizeTrajectory(), this method computes the output values for of the method GetNextMotionState_Position(), that is, the state of motion for the next control cycle.

Parameters:

PolynomialArray	Pointer to the array of polynomials (TypeIRMLMath::TypeIMotionPolynomials) that have been parameterized by SynchronizeTrajectory().
SelectionVector	Selection vector of the current set of input parameters. Only if the flag for a DOF is set to true, output values will be set by this method.
OP	Output values of GetNextMotionState_Position(), that is, the state of motion for the next control cycle.

Remarks:: In the context of the on-line trajectory generation framework, this method is considered as Step 3.

Returns:

Definition at line 401 of file TypeIRML.cpp.

double TypeIRML::GetExecutionTime ( void ) const

Returns the time in seconds that is required to time-optimally reach the desired target state of motion.

If this method is called after the execution of the method TypeIRML::GetNextMotionState_Position(), the time value for the position-based trajectory will be returned. If this method is called after the execution of the method TypeIRML::GetNextMotionState_Velocity(), the time value for the velocity-based trajectory will be returned, i.e., the time until which the last degree of freedom will reach its target velocity. For the case, the final and desired state of motion has already been reached (i.e., the result of TypeIRML::GetNextMotionState_Position() or TypeIRML::GetNextMotionState_Velocity() was TypeIRML::RML_FINAL_STATE_REACHED), this method returns a zero value.

Returns:: The value of the execution time in seconds. If neither the method TypeIRML::GetNextMotionState_Position() nor the method TypeIRML::GetNextMotionState_Velocity() was not called before, the returned value is -1.0.

See also:: TypeIRML::GetNextMotionState_Position(); TypeIRML::GetNextMotionState_Velocity()

Definition at line 521 of file TypeIRML.cpp.

int TypeIRML::GetNextMotionState_Position	(	const double *	CurrentPosition,
		const double *	CurrentVelocity,
		const double *	MaxVelocity,
		const double *	MaxAcceleration,
		const double *	TargetPosition,
		const bool *	SelectionVector,
		double *	NewPosition,
		double *	NewVelocity
	)

Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target position-based trajectory generation.

Parameters:

CurrentPosition	The current position $\vec{P}_{i}$ (position of the last cycle, given by the user)
CurrentVelocity	The current velocity $\vec{V}_{i}$ (velocity of the last cycle, given by the user)
MaxVelocity	The maximum velocity $\vec{V}^{\,max}_{i}$ (given by the user)
MaxAcceleration	The maximum acceleration $\vec{A}^{\,max}_{i}$ (given by the user)
TargetPosition	The target Position $\vec{P}^{\,trgt}_{i}$ (given by the user)
SelectionVector	The selection vector $\vec{S}_{i}$ , which determines, which DOFs are position controlled by the RML (of the current control cycle, given by the user)
NewPosition	Pointer to an array of double values for the new position $\vec{P}_{i+1}$ (position of the current control cycle, to be calculated)
NewVelocity	Pointer to an array of double values for the new velocity $\vec{V}_{i+1}$ (velocity of the current control cycle, to be calculated)

Returns:

See also:: TypeIRML::TypeIRMLResult

Definition at line 96 of file TypeIRML.cpp.

int TypeIRML::GetNextMotionState_Position	(	const TypeIRMLInputParameters &	IP,
		TypeIRMLOutputParameters *	OP
	)

Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target position-based trajectory generation.

Parameters:

IP	Input parameters for the current control cycle
OP	Output parameters for the current control cycle

Returns:

See also:: TypeIRML::TypeIRMLResult; TypeIRMLMath::TypeIRMLInputParameters; TypeIRMLMath::TypeIRMLOutputParameters

Definition at line 175 of file TypeIRML.cpp.

int TypeIRML::GetNextMotionState_Velocity	(	const double *	CurrentPosition,
		const double *	CurrentVelocity,
		const double *	MaxAcceleration,
		const double *	TargetVelocity,
		const bool *	SelectionVector,
		double *	NewPosition,
		double *	NewVelocity
	)

Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target velocity-based trajectory generation.

Parameters:

CurrentPosition	The current position $(\vec{P}_{i}$ (position of the last cycle, given by the user)
CurrentVelocity	The current velocity $(\vec{V}_{i}$ (velocity of the last cycle, given by the user)
MaxAcceleration	The maximum acceleration $\vec{A}^{\,max}_{i}$ (given by the user)
TargetVelocity	The target velocity $(\vec{V}_{i}^{\,trgt}$ (velocity to be reached, given by the user)
SelectionVector	The selection vector $\vec{s}_{i}$ , which determines, which DOFs are position controlled by the RML (of the current control cycle, given by the user)
NewPosition	Pointer to an array of double values for the new position $(\vec{p}_{i}$ (position of the current control cycle, to be calculated)
NewVelocity	Pointer to an array of double values for the new velocity $(\vec{v}_{i}$ (velocity of the current control cycle, to be calculated)

Returns:

See also:: TypeIRML::TypeIRMLResult

Definition at line 443 of file TypeIRML.cpp.

int TypeIRML::GetNextMotionState_Velocity	(	const TypeIRMLInputParameters &	IP,
		TypeIRMLOutputParameters *	OP
	)

Calculates new position $\vec{P}_{i+1}$ and velocity $\vec{V}_{i+1}$ values for target velocity-based trajectory generation.

Parameters:

IP	Input parameters for the current control cycle
OP	Output parameters for the current control cycle

Returns:

See also:: TypeIRML::TypeIRMLResult; TypeIRMLMath::TypeIRMLInputParameters; TypeIRMLMath::TypeIRMLOutputParameters

Definition at line 505 of file TypeIRML.cpp.

void TypeIRML::SynchronizeTrajectory	(	const TypeIRMLMath::TypeIRMLInputParameters &	IP,
		const double &	SynchronizationTime,
		TypeIRMLMath::TypeIMotionPolynomials *	PolynomialArray
	)		`[private]`

Computes time-synchronized trajectories for all selected DOFs.

This method computes all polynomial parameters PolynomialArray of all selected DOFs. These calculations are based on the input parameters that are given through the call of GetNextMotionState_Position() and and the minimum synchronization time SynchronizationTime.

Parameters:

IP	Pointer to the input parameters of the current call of GetNextMotionState_Position()
SynchronizationTime	Minimum synchronization time in seconds
PolynomialArray	Pointer to an array of polynomials (TypeIRMLMath::TypeIMotionPolynomials)

Remarks:: In the context of the on-line trajectory generation framework, this method is considered as Step 2.

Definition at line 283 of file TypeIRML.cpp.

Member Data Documentation

TypeIRMLMath::TypeIRMLInputParameters * TypeIRML::CurrentInputParameters [private]

Pointer to an object of the class TypeIRMLInputParameters.

Definition at line 494 of file TypeIRML.h.

double TypeIRML::CycleTime [private]

Cycle time in seconds.

See also:: TypeIRML::TypeIRML()

Definition at line 464 of file TypeIRML.h.

double TypeIRML::InternalClockInSeconds [private]

Internal time. This time will set to zero if the input values have changed. Otherwise, this value will be incremented by CycleTime during every call of GetNextMotionState_Position() or GetNextMotionState_Velocity()

Definition at line 476 of file TypeIRML.h.

int TypeIRML::NumberOfDOFs [private]

Number of degrees of freedom.