cinostrapezeramp.h

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//******************************************************************************
//******************************************************************************
 
#ifndef INC_CINOSTRAPEZERAMP_H
#define INC_CINOSTRAPEZERAMP_H
//
//******************************************************************************
//
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_TRAPEZE_RAMP_DBT    "INOS-TRAPEZE-RAMP" // db table name
#define DF_INOS_TRAPEZE_RAMP_NAME   "CINOSTrapezeRamp"  // ramp name
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <cinosbaseramp.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
//--- structures ---------------------------------------------------------------
//------------------------------------------------------------------------------
//
struct SINOSTrapezeRamp : public SINOSBaseRamp
{
    //declare constructor to suppress compiler warning
    //delete it if SINOSTrapezeRamp has one ore more member variable
    SINOSTrapezeRamp() : SINOSBaseRamp{} {};
};
  
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSTrapezeRamp : public CINOSBaseRamp
{
    //--- user interface ---------------------------------------------------
 
    public:      
 
        explicit CINOSTrapezeRamp(SINOSTrapezeRamp* apDesc = 0);
        virtual ~CINOSTrapezeRamp();
        static uint32 GetVersion();
      
        // miscellaneous functions
        virtual void GetCmdRealJerk(real64& arJerk, uint32 auNumber = 0) override;
            //; get commanded real jerk
        virtual bool StopLive(real64 arSlowMotion = 1.0, SINOSRampParam* apParam = 0) override;
        virtual CINOSBaseRamp* Clone() override;
        #ifndef INOS_RAMP_DLL
        virtual CINCOObject* GetRegister(const char* apName = "Ramp") override;
        virtual CINCOObject* GetParamSetRegister(CINOSBaseRampParamSet* apSet) override;
        #endif
 
    //--- 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;
        CINOSRampSegTra* CalcSegTra(
            real64 arVb,                // starting velocity
            real64 arAb,                // starting acceleration
            real64 arVe,                // ending velocity
            SINOSRampParam* apParam,    // requested parameters
            CINOSRampSegTra* apResult=0,    // result
            real64 arJb=REAL64(-1.0),   // requested begin jerk                 
            real64 arJe=REAL64(-1.0),   // requested end jerk                   
            ECalcSegTraType aeType = eClcSegTraCompatible
            ) override;
        real64 CalcVmax(real64 adS, SINOSRampParam* apParam);
 
    // protected members
    protected:
 
    // allow dynamic object handling (new/delete)
    DECLARE_DYNAMIC(CINOSTrapezeRamp);
};
//
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSTRAPEZERAMP_H