Inheritance diagram for CINOSMovePathTrajectory:

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Public Types
enum	{ eFlgNone = 0x00000000 , eFlgStopSupported = 0x00000001 , eFlgNeedsInterpolatorSegments = 0x00000002 }
	flags

Public Member Functions
virtual uint32	GetMoveTime (double &adMoveTime, double adDelta=0.0)
	Return time [sec] the path needs until End - Delta.

virtual uint32	GetMoveTicks (uint64 &adMoveTicks, double arDelta=0.0)
	Return bus ticks the path needs until End - Delta.

virtual uint32	GetMoveLength (double &adMoveLength)
	Return the path length [path units].

virtual uint32	GetMoveRemaining (double &adMoveRemaining)
	Return the remaining path length [path units]. It can be used to ask for the actual remaining length still needs to move during a running path. At path start it returns adMoveLeft = PathLength, at the end adMoveLeft = 0.0.

virtual uint32	GetMaxConstantVelocity (double &adMaxConstantVelocity, CINOSMovePathCurve *apCurve)
	Return the max. allowed constant velocity the path can be run with without violating any axes limits (V, A, B, J).

virtual uint32	Prepare ()
	prepare move path

virtual uint32	PrepareAppend ()=0
	prepare trajectory of curve to append

virtual uint32	Append ()=0
	prepare trajectory of curve to append

virtual uint32	PrepareRun ()
	prepare trajectory to run

virtual uint32	Run (TINOSMovePathVec &vOffset, bool abDelegate)
	run move path

virtual uint32	Stop ()=0
	stop move path

virtual uint32	Break ()=0
	break move path

virtual uint32	Continue ()=0
	continue move path

virtual uint32	Cancel ()
	cancel move path

virtual uint32	GetData (TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
	get data from trajectory buffer

virtual uint32	GetData (uint32 &ouSegmentId, TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
	get data from trajectory buffer

virtual CINOSMovePathSegment *	GetActSegment ()

virtual uint32	CancelData ()
	cancel trajectory buffer data

uint32	GetBufferFillLevel () const

virtual uint32	HandleData (CINOSMovePathSegment *apSegment, TINOSMovePathVec &avPos, TINOSMovePathVec &avVel, TINOSMovePathVec &avAcc, TINOSMovePathVec &avJrk)
	handle data of all resources

uint32	GetFlags ()
	Returns general trajectory generator flags.

void	GetActual (SINOSRampData &aActual)
	Get actual path s,v,a,j.

	CINOSMovePathTrajectory (class CINOSMovePath *apPath=NULL)
	constructor

virtual	~CINOSMovePathTrajectory ()
	destructor

Protected Types
enum	{ ePutDataFlgNone = 0x00000000 , ePutDataFlgWaitIfFull = 0x00000001 }
	putdata flags

enum	{ eFlgIntCancelRequest = 0x00000001 }
	internal flags

enum	EBufferType { eTypeActive , eTypePassive }
	buffer type

enum	{ eFlgFull = 0x00000001 , eFlgNoMoreData = 0x00000002 , eFlgWrapAround = 0x00000004 , eFlgCalculated = 0x00000008 , eFlgDelegate = 0x00000010 , eFlgFollow = 0x00000020 , eFlgEnd = 0x00000040 }
	buffer flags

Protected Member Functions
class CINOSMovePath *	GetPath ()
	get pointer to my path

void	SetPath (class CINOSMovePath *apPath)
	set pointer to my path

class CINOSMovePathCurve *	GetPrepareCurve ()
	get pointer to my prepare curve

class CINOSMovePathCurve *	GetRunCurve ()
	get pointer to run curve

class CINOSMovePathResourceAxis *	GetAxis (uint32 auIndex)
	get pointer to axis

virtual uint32	iPrepare ()=0
	prepare run

virtual uint32	PrepareEvents ()
	prepare events

virtual bool	GenData (CINOSMovePathSegment *&opSegment, double &adP, TINOSMovePathVec &vPos)=0
	generate data

virtual uint32	PutData (CINOSMovePathSegment *apSegment, double adP, TINOSMovePathVec &vPos, uint32 auFlags)
	put data into trajectory buffer

uint32	PutCmd (uint32 auCommand)
	put command to command queue

uint32	HandleCmd (uint32 auError=INOS_OK)
	check command queue

uint32	HandlePrestartEvent ()
	handle prestart event

uint32	HandleEvents ()
	handle events

void	EmitEvent (CINOSMovePathEvent *apEvent, uint64 auTicksStart)
	emit event

uint32	WaitCmd (uint32 auCommand, uint32 auError=INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE)
	wait for either auCommand or eCmdAbort

virtual void	iActiveHook ()
	active hook

virtual uint32	iCancelData ()
	internal cancel data

double	CalcRotationAngle (TINOSMovePathVec &vUnitVector1, TINOSMovePathVec &vUnitVector2)

void	CalcFollow (TINOSMovePathVec &vPos, TINOSMovePathVec &vDir)
	calc follow axis

void	GetPositionLast (TINOSMovePathVec &ovLast)
	get last path position vector

virtual CINCOObject *	RequestRegister ()
	return pointer to inco registration

void	ReleaseRegister ()
	release inco registration

CINCOObject *	GetRegister ()
	get pointer to inco registration (if any)

	DECLARE_DYNAMIC (CINOSMovePathTrajectory)

Protected Attributes
inosName32	m_cType
	type

uint32	m_uFlags
	trajectory generator flags

class CINOSMovePath *	m_pPath
	pointer to my path

double	m_dCycleTime
	cycle time

double	m_dCycleTime_1
	inverse cycle time

double	m_dSlowMotion
	slowmotion factor

uint8	m_uMainAxisIndex
	main axis index

uint8	m_uMainOversampling = 1
	main axis oversampling

inos_std::vector< uint8 >	m_uMainCycleDownSampling
	main cycle down sampling

inos_std::vector< CINOSMovePathResource * >	m_vResources

uint32	m_uNoResources = 0

char	m_cSpeedSet [64] = {0}
	speedset name

SINOSRampParam	m_sSpeedSet
	speedset

uint32	m_uFlagsInternal = 0
	internal flags

enum CINOSMovePathTrajectory::EBufferType	m_eBufferType

uint32	m_uBufferFlags
	buffer flags

uint32	m_uBufferSize
	buffer size

uint32	m_uBufferReady
	buffer ready level

uint32	m_uBufferLow
	buffer low level

uint32	m_uBufferWr
	buffer write index

uint32	m_uBufferTotalWr
	buffer write total index

uint32	m_uBufferRd
	buffer read index

uint32	m_uBufferTotalRd
	buffer read total index

uint32	m_uBufferCnt
	buffer entries

CINOSMovePathSegment **	m_ppBufferSegment
	corresponding segment

double *	m_pBufferP
	corresponding buffer virtual position P

TINOSMovePathVec *	m_pBuffer
	the buffer

uintid	m_uActiveHookId
	active hook id

TINOSMovePathVec	m_vOffset
	running offset

CINOSMovePathSegment *	m_pPathSegment
	current segment

uint64	m_uTicksStart
	start ticks

uint32	m_uTicksCurrent
	current ticks

uint8	m_uBusId
	bus id

uint32	m_uBusTicksPerMs
	bus ticks per ms

uint32	m_uBusTicksPerAxisTick
	bus ticks per axis tick

double	m_dTime
	current timestamp

double	m_dP
	current position

SINOSMovePathActual	m_Actual = {0}
	internal actuals

SINOSMovePathActual *	m_pActual
	actuals (handled over to inco registration of involved axes)

double	m_dActP = 0.0
	p value

TINOSMovePathVec	m_vPos
	position

TINOSMovePathVec	m_vVel
	velocity

TINOSMovePathVec	m_vAcc
	acceleration

TINOSMovePathVec	m_vJrk
	jerk

uint8	m_uCycleDownSampling [DF_INOS_MOVEPATH_MAX_AXES]
	main cycle down sampling

CINOSMovePathSegment *	m_pActSegment = nullptr
	current act segment

CINOSMovePathSegment *	m_pNextSegment = nullptr
	next act segment

inos_std::vector< uint8 >	m_vCycleDownSampling
	main cycle down sampling

uint32	m_uFilterLength
	filter length

double	m_dFilterFactor
	filter

TINOSMovePathVec	m_vFilterPos
	filtered position

uint32	m_uFollowIndex
	index of axis to follow

double	m_dFollowFactor
	follow unit factor

double	m_dFollowAngle
	actual follow angle

TINOSMovePathVec	m_vFollowDir
	actual direction vector

uint32	m_uRegisterCnt = 0
	inco tree registration counter

CINCOObject *	m_pRegister = nullptr
	pointer to inco registration

Friends
class	CINOSMovePath

class	CINOSMcRobot

Member Function Documentation

◆ Append()

virtual uint32 CINOSMovePathTrajectory::Append ( )

pure virtual

prepare trajectory of curve to append

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ Break()

virtual uint32 CINOSMovePathTrajectory::Break ( )

pure virtual

break move path

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ CalcRotationAngle()

double CINOSMovePathTrajectory::CalcRotationAngle	(	TINOSMovePathVec &	vUnitVector1,
		TINOSMovePathVec &	vUnitVector2
	)

protected

calc rotation angle between unit vector1 and unit vector2, assume both vectors lie in the same plane with axes index 0 and 1

◆ Continue()

virtual uint32 CINOSMovePathTrajectory::Continue ( )

pure virtual

continue move path

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ GenData()

virtual bool CINOSMovePathTrajectory::GenData	(	CINOSMovePathSegment *&	opSegment,
		double &	adP,
		TINOSMovePathVec &	vPos
	)

protectedpure virtual

generate data

Implemented in CINOSMovePathTrajectorySegment, and CINOSMovePathTrajectoryConstant.

◆ GetActual()

void CINOSMovePathTrajectory::GetActual ( SINOSRampData & aActual )

inline

Get actual path s,v,a,j.

Parameters

apHandler	The handler function
apObject	The handler instance

◆ GetBufferFillLevel()

uint32 CINOSMovePathTrajectory::GetBufferFillLevel ( ) const

Returns: the current count of buffer entries. 0 means 'empty'.

◆ GetFlags()

uint32 CINOSMovePathTrajectory::GetFlags ( )

inline

Returns general trajectory generator flags.

Returns: Returns The flags

◆ GetMaxConstantVelocity()

virtual uint32 CINOSMovePathTrajectory::GetMaxConstantVelocity	(	double &	adMaxConstantVelocity,
		CINOSMovePathCurve *	apCurve
	)

virtual

Return the max. allowed constant velocity the path can be run with without violating any axes limits (V, A, B, J).

Parameters

adMaxConstantVelocity Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveLength()

virtual uint32 CINOSMovePathTrajectory::GetMoveLength ( double & adMoveLength )

virtual

Return the path length [path units].

Parameters

adMoveLength Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveRemaining()

virtual uint32 CINOSMovePathTrajectory::GetMoveRemaining ( double & adMoveRemaining )

virtual

Return the remaining path length [path units]. It can be used to ask for the actual remaining length still needs to move during a running path. At path start it returns adMoveLeft = PathLength, at the end adMoveLeft = 0.0.

Parameters

adMoveLeft Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveTicks()

virtual uint32 CINOSMovePathTrajectory::GetMoveTicks	(	uint64 &	adMoveTicks,
		double	arDelta = `0.0`
	)

virtual

Return bus ticks the path needs until End - Delta.

Parameters

auMoveTicks	Reference to variable where to write the result to
adDelta	The requested end delta [path units].

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveTime()

virtual uint32 CINOSMovePathTrajectory::GetMoveTime	(	double &	adMoveTime,
		double	adDelta = `0.0`
	)

inlinevirtual

Return time [sec] the path needs until End - Delta.

Parameters

adMoveTime	Reference to variable where to write the result to
adDelta	The requested end delta [path units].

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

Reimplemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ iPrepare()

virtual uint32 CINOSMovePathTrajectory::iPrepare ( )

protectedpure virtual

prepare run

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ Prepare()

virtual uint32 CINOSMovePathTrajectory::Prepare ( )

virtual

prepare move path

Reimplemented in CINOSMovePathTrajectorySegment.

◆ PrepareAppend()

virtual uint32 CINOSMovePathTrajectory::PrepareAppend ( )

pure virtual

prepare trajectory of curve to append

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

◆ Stop()

virtual uint32 CINOSMovePathTrajectory::Stop ( )

pure virtual

stop move path

Implemented in CINOSMovePathTrajectoryConstant, and CINOSMovePathTrajectorySegment.

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepathtrajectory.h

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Friends

Member Function Documentation

◆ Append()

◆ Break()

◆ CalcRotationAngle()

◆ Continue()

◆ GenData()

◆ GetActual()

◆ GetBufferFillLevel()

◆ GetFlags()

◆ GetMaxConstantVelocity()

◆ GetMoveLength()

◆ GetMoveRemaining()

◆ GetMoveTicks()

◆ GetMoveTime()

◆ iPrepare()

◆ Prepare()

◆ PrepareAppend()

◆ Stop()