cinosjerktrqramp.h

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//******************************************************************************
//******************************************************************************
//
#ifndef INC_CINOSJERKTRQRAMP_H
#define INC_CINOSJERKTRQRAMP_H
//
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_JERK_TRQ_RAMP_DBT   "INOS-JERK-TRQ-RAMP"    // db table name
#define DF_INOS_JERK_TRQ_RAMP_NAME  "CINOSJerkTrqRamp"      // ramp name
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <cinosbaseramp.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
//--- structures ---------------------------------------------------------------
//------------------------------------------------------------------------------
//
struct SINOSJerkTrqRamp : public SINOSBaseRamp
{
};
  
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class INOS_DEPRECATED("use CINOSJerkRamp with option 'EnbTrqLimit' instead") CINOSJerkTrqRamp : public CINOSBaseRamp
{
    //--- user interface ---------------------------------------------------
 
    public:      
 
        explicit CINOSJerkTrqRamp(SINOSJerkTrqRamp* apDesc = 0);
        virtual ~CINOSJerkTrqRamp();
        static uint32 GetVersion();
        virtual CINOSBaseRamp* Clone() override;
      
    //--- internals --------------------------------------------------------
 
    // protected member functions
    protected:
        virtual ECalcMoveResult CalcMove(real64 arSlen, SINOSRampParam* apParam, CINOSRampSegTra*& apSegAcc, 
            CINOSRampSegCns*& apSegCns, CINOSRampSegTra*& apSegDec, real64 arVbgn = REAL64(0.0),
            real64 arVend = REAL64(0.0), real64 arAbgn = REAL64(0.0),
            real64 arAend = REAL64(0.0), real64 arDuration = REAL64(-1.0)) override;
 
    // protected members
    protected:
        uint32 m_uInternalError;
 
//------------------------------------------------------------------------------
//--- BEGIN of chef code -------------------------------------------------------
//------------------------------------------------------------------------------
 
public :
//
 
//**********************************************************************************
// Anfang Momentdaten
//-------------------------------------------------------
 
//In-Out
 
//-------------------------------------------------------
// Programm
 
    void    CalcX (real64 arSlen, SINOSRampParam* apParam);
    void    Init_Mz();
//------------------------------------------------------
// Moment
 
    double  agz (int k);                    // Maximale Beschleunigung
    double  aqm(double vh,double J, int k);
    void    aqak ();                // aq wird mit ak überschrieben nach opti
    void    aqPot(int k);
    void    aqTan(double s,int k);              // aq bei sa=ss und Jm -> Tangente
    double  atq0(double vh, int k);                 // #23
    void    Begrenzung ();          // ak< am
    double  dJm(int k);
    double  daq0(int k);
    double  daqm(int k);
    double  dsvh(int k);
    double  dTang (int k);
 
    int     GTyp();                 // Typen bei Momentgrenze??
    double  Jmvh(double v,int k);   // #26
    void    JunM ();                // all J -> unendlich Moment
    void    Moment();               // Moment : Momentbgrenzung
    int     MomentGrenze();
    void    MTest (int kk);
    void    Mrtr ();                // Mz aus tp,tq und rj
    int     Mrt ();                 // Mz aus tp,tq und tr
    void    Mrvsp ();
    int     Xopt_t();               // optimal Time m it th
    void    Yopt_t();               // optimal Time m it th
    double  saxb (double Jx);       // sa,ab berechnen bei aq,bq = ak,bk  ??
    void    sar ();                 // sa,ab berechnen mit 
    void    sh0();
    int     sKorr11 (double s);     // Korrektur von -sh 
    int     sKorr01(double s);
    double  svh(int k);
    void    TangPar (int k); 
    void    tq1_1();                // beide Seiten mit tq kleine vm
 
    void    tq0_0();                // beide Seiten ohne tq kleine vm
    void    tq0_1();                // a- Seiten ohne tq 
    void    tqKorr();
    double  tqr (int k); 
    double  vhvr(int k);                    //  #9
    double  vhT_b(int k);               //  #6 vhT Berechnung 
    void    XJmvh();
    double  W3r(double x);  // 3.Wurzel
    int     sh0x();         //050331 
 
//---------------------------------------------------------------------------------
// Normal
    void    Bahn();                 // Berechnung der Bahn
    void    Normal();               // Berechnung ohne Momentbegrenzung
    void    T_J ();                 // FeSub:Berechnung der Zeiten und Jerk => M
    void    Typ3();
    void    Typ45();
    void    Typ6();
    void    Typ7();
    void    Jun();                  // alle J -> unendlich Normal
    void    Test_poly();            // Kontrollprogramm Polynom !060702
//  void    Mr_N(int k);            // Mz rechnen Normal
    void    MrNM ();
//  void    MrM (int k, double Jx);
 
//******************************************************************************
//--- END   of chef code -------------------------------------------------------
//------------------------------------------------------------------------------
 
    // allow dynamic object handling (new/delete)
    DECLARE_DYNAMIC_CACHE(CINOSJerkTrqRamp);
};
 
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSJERKTRQRAMP_H