External MoCon profile: Representation of a trajectory as list of parameterized segments. More...

#include <Profile.h>

Collaboration diagram for Basda::MoConModuleProfile:

Classes
struct	Segment
	Single segment of a MoCon profile. More...

Public Member Functions
	MoConModuleProfile ()
	Defining the following macro lets the software merge consecutive segments to avoid zero velocities This tries to patch the fact that otherwise the MOCON may (?) create an event that this basda-mocca client software regards as the completion of a trajectory. More...

	~MoConModuleProfile ()

void	setExternalProfileMaxSamplesPerSegment (unsigned int _maxSamplesPerSegment)

void	setExternalProfileMinSamplesPerSegment (unsigned int _minSamplesPerSegment)

void	setExternalProfileFaultTolerance (unsigned int _maxError)

unsigned int	fitExternalProfile (Nice::Date _date, Nice::I64 _startCycle, std::vector< Nice::PointVar > &_trajectory, double _cycleTime)

unsigned int	getExternalProfileSize ()

void	getExternalProfile (int _index, int &_position, int &_velocity, int &_acceleration, int &_jerk, int &_numberOfCycles)

std::vector< Segment >	getExternalProfile ()

	MoConModuleProfile ()

	~MoConModuleProfile ()

void	setExternalProfileMaxSamplesPerSegment (unsigned int _maxSamplesPerSegment)

void	setExternalProfileMinSamplesPerSegment (unsigned int _minSamplesPerSegment)

void	setExternalProfileFaultTolerance (unsigned int _maxError)

unsigned int	fitExternalProfile (Nice::Date _date, Nice::I64 _startCycle, std::vector< Nice::PointVar > &_trajectory, double _cycleTime)

unsigned int	getExternalProfileSize ()

void	getExternalProfile (int _index, int &_position, int &_velocity, int &_acceleration, int &_jerk, int &_numberOfCycles)

std::vector< Segment >	getExternalProfile ()

Private Member Functions
void	calcMaxDeviation (unsigned int _segmentStart, Segment _segment, double &_position, double &_velocity, double &_acceleration, double &_jerk, int &_numberOfCycles)
	calculates the biggest deviation between the input and fitted trajectory. More...

void	calcMaxDeviation (unsigned int _segmentStart, Segment _segment, double &_position, double &_velocity, double &_acceleration, double &_jerk, int &_numberOfCycles)

Static Private Member Functions
static void	basePol3 (const double _x, boost::numeric::ublas::vector< double > &_afunc)
	Basis functions for a degree 3 polynomial. More...

static void	basePol3 (const double _x, boost::numeric::ublas::vector< double > &_afunc)

Private Attributes
std::vector< Nice::PointVar >	m_trajectory
	Type of a full MoCon trajectory (in steps or counts and cycles) that is to be transfered to a mocon profile. More...

std::vector< Segment >	m_profile
	The MoCon profile vector consist of segments. More...

unsigned int	m_faultTolerance
	Fault Tolerance in steps (counts). More...

unsigned int	m_maxSamplesPerSegment
	The number of points on the trajectory that should be represented by a single polynomial. More...

unsigned int	m_minSamplesPerSegment

double	m_deviation

double	m_maxDeviation

Detailed Description

External MoCon profile: Representation of a trajectory as list of parameterized segments.

A MoCon profile uses degree 3 polynomials to describe each segment of a motor trajectory. The Coefficients of the polynomials represent time, position, velocity, acceleration, and jerk.

The time defines when the next trajectory point will be loaded. The position of the next trajectory point have to be the same as the current position point. The next acceleration, velocity and jerk values define the next movement.

The position of the first trajectory point have to be the start position. If it is not the start position the MoCon will do a jump which can introduce errors.

The position value of the next trajectory point must be the same as the current position value. Which means the position value of the next trajectory point defines the current

This class

transfers a specified trajectory into a MoCon Profile. The specified trajectory is a vector of positions which are equally spaced in time.

Todo:

soon: provides a method to change the current trajectory

soon: deals with the UTC start time for the profile. Needed for absolute time trajectories.

A MoCon profile uses degree 3 polynomials to describe each segment of a motor trajectory. The Coefficients of the polynomials represent time, position, velocity, acceleration, and jerk.

The time defines when the next trajectory point will be loaded. The position of the next trajectory point have to be the same as the current position point. The next acceleration, velocity and jerk values define the next movement.

The position of the first trajectory point have to be the start position. If it is not the start position the MoCon will do a jump which can introduce errors.

The position value of the next trajectory point must be the same as the current position value. Which means the position value of the next trajectory point defines the current

This class

transfers a specified trajectory into a MoCon Profile. The specified trajectory is a vector of positions which are equally spaced in time.

Todo:

soon: provides a method to change the current trajectory

soon: deals with the UTC start time for the profile. Needed for absolute time trajectories.

Constructor & Destructor Documentation

◆ MoConModuleProfile() [1/2]

Basda::MoConModuleProfile::MoConModuleProfile ( )

Defining the following macro lets the software merge consecutive segments to avoid zero velocities This tries to patch the fact that otherwise the MOCON may (?) create an event that this basda-mocca client software regards as the completion of a trajectory.

Since: 2018-02-07 #define TAN_BASDA_MOCCA_MERGE_ZEROVEL_SEGS

◆ ~MoConModuleProfile() [1/2]

Basda::MoConModuleProfile::~MoConModuleProfile ( )

◆ MoConModuleProfile() [2/2]

Basda::MoConModuleProfile::MoConModuleProfile ( )

◆ ~MoConModuleProfile() [2/2]

Basda::MoConModuleProfile::~MoConModuleProfile ( )

Member Function Documentation

◆ basePol3() [1/2]

void Basda::MoConModuleProfile::basePol3	(	const double	_x,
		boost::numeric::ublas::vector< double > &	_afunc
	)

staticprivate

Basis functions for a degree 3 polynomial.

Function provided to the LNMath function lfit within ProfiFit()

Parameters

[in]	_x	Value onthe abscissa
[out]	_afunc	returns a constant 1 for index 0, _x scaled by a factor 2^16 for index 1 and so on.

See also: Nice::Alg::linearFit

◆ basePol3() [2/2]

static void Basda::MoConModuleProfile::basePol3	(	const double	_x,
		boost::numeric::ublas::vector< double > &	_afunc
	)

staticprivate

◆ calcMaxDeviation() [1/2]

void Basda::MoConModuleProfile::calcMaxDeviation	(	unsigned int	_currentSample,
		Segment	_segment,
		double &	_position,
		double &	_velocity,
		double &	_acceleration,
		double &	_jerk,
		int &	_numberOfCycles
	)

private

calculates the biggest deviation between the input and fitted trajectory.

Calculates also m_deviation, the deviation between fit and requested position at the end of the segment.

◆ calcMaxDeviation() [2/2]

void Basda::MoConModuleProfile::calcMaxDeviation	(	unsigned int	_segmentStart,
		Segment	_segment,
		double &	_position,
		double &	_velocity,
		double &	_acceleration,
		double &	_jerk,
		int &	_numberOfCycles
	)

private

◆ fitExternalProfile() [1/2]

unsigned int Basda::MoConModuleProfile::fitExternalProfile	(	Nice::Date	_date,
		Nice::I64	_startCycle,
		std::vector< Nice::PointVar > &	_trajectory,
		double	_cycleTime
	)

◆ fitExternalProfile() [2/2]

unsigned int Basda::MoConModuleProfile::fitExternalProfile	(	Nice::Date	_date,
		Nice::I64	_startCycle,
		std::vector< Nice::PointVar > &	_trajectory,
		double	_cycleTime
	)

◆ getExternalProfile() [1/4]

void Basda::MoConModuleProfile::getExternalProfile	(	int	_index,
		int &	_position,
		int &	_velocity,
		int &	_acceleration,
		int &	_jerk,
		int &	_numberOfCycles
	)

◆ getExternalProfile() [2/4]

void Basda::MoConModuleProfile::getExternalProfile	(	int	_index,
		int &	_position,
		int &	_velocity,
		int &	_acceleration,
		int &	_jerk,
		int &	_numberOfCycles
	)

◆ getExternalProfile() [3/4]

std::vector< Basda::MoConModuleProfile::Segment > Basda::MoConModuleProfile::getExternalProfile ( )

◆ getExternalProfile() [4/4]

std::vector<Segment> Basda::MoConModuleProfile::getExternalProfile ( )

◆ getExternalProfileSize() [1/2]

unsigned int Basda::MoConModuleProfile::getExternalProfileSize ( )

◆ getExternalProfileSize() [2/2]

unsigned int Basda::MoConModuleProfile::getExternalProfileSize ( )

◆ setExternalProfileFaultTolerance() [1/2]

void Basda::MoConModuleProfile::setExternalProfileFaultTolerance ( unsigned int _maxError )

◆ setExternalProfileFaultTolerance() [2/2]

void Basda::MoConModuleProfile::setExternalProfileFaultTolerance ( unsigned int _maxError )

◆ setExternalProfileMaxSamplesPerSegment() [1/2]

void Basda::MoConModuleProfile::setExternalProfileMaxSamplesPerSegment ( unsigned int _maxSamplesPerSegment )

◆ setExternalProfileMaxSamplesPerSegment() [2/2]

void Basda::MoConModuleProfile::setExternalProfileMaxSamplesPerSegment ( unsigned int _maxSamplesPerSegment )

◆ setExternalProfileMinSamplesPerSegment() [1/2]

void Basda::MoConModuleProfile::setExternalProfileMinSamplesPerSegment ( unsigned int _minSamplesPerSegment )

◆ setExternalProfileMinSamplesPerSegment() [2/2]

void Basda::MoConModuleProfile::setExternalProfileMinSamplesPerSegment ( unsigned int _minSamplesPerSegment )

Member Data Documentation

◆ m_deviation

double Basda::MoConModuleProfile::m_deviation

private

◆ m_faultTolerance

unsigned int Basda::MoConModuleProfile::m_faultTolerance

private

Fault Tolerance in steps (counts).

This is the maximum acceptable deviation of the fitted trajectory from the input trajectory. The deviation is determined for each specified point in the input trajectory.

◆ m_maxDeviation

double Basda::MoConModuleProfile::m_maxDeviation

private

◆ m_maxSamplesPerSegment

unsigned int Basda::MoConModuleProfile::m_maxSamplesPerSegment

private

The number of points on the trajectory that should be represented by a single polynomial.

Each n*samplesPerSegment point will be a knot on the piecewise polynomial The sampling will be reduced, if the fitted polynomial of the corresponding segment cannot be fitted accurately enough.

◆ m_minSamplesPerSegment

unsigned int Basda::MoConModuleProfile::m_minSamplesPerSegment

private

◆ m_profile

std::vector< Segment > Basda::MoConModuleProfile::m_profile

private

The MoCon profile vector consist of segments.

◆ m_trajectory

std::vector< Nice::PointVar > Basda::MoConModuleProfile::m_trajectory

private

Type of a full MoCon trajectory (in steps or counts and cycles) that is to be transfered to a mocon profile.

x is the time in cycles y is the position in counts or steps

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

TwiceAsNice/basda-mocca/doc/include/mocon/Profile.h
TwiceAsNice/basda-mocca/doc/include/mocon/Profile.cc

Classes

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MoConModuleProfile() [1/2]

◆ ~MoConModuleProfile() [1/2]

◆ MoConModuleProfile() [2/2]

◆ ~MoConModuleProfile() [2/2]

Member Function Documentation

◆ basePol3() [1/2]

◆ basePol3() [2/2]

◆ calcMaxDeviation() [1/2]

◆ calcMaxDeviation() [2/2]

◆ fitExternalProfile() [1/2]

◆ fitExternalProfile() [2/2]

◆ getExternalProfile() [1/4]

◆ getExternalProfile() [2/4]

◆ getExternalProfile() [3/4]

◆ getExternalProfile() [4/4]

◆ getExternalProfileSize() [1/2]

◆ getExternalProfileSize() [2/2]

◆ setExternalProfileFaultTolerance() [1/2]

◆ setExternalProfileFaultTolerance() [2/2]

◆ setExternalProfileMaxSamplesPerSegment() [1/2]

◆ setExternalProfileMaxSamplesPerSegment() [2/2]

◆ setExternalProfileMinSamplesPerSegment() [1/2]

◆ setExternalProfileMinSamplesPerSegment() [2/2]

Member Data Documentation

◆ m_deviation

◆ m_faultTolerance

◆ m_maxDeviation

◆ m_maxSamplesPerSegment

◆ m_minSamplesPerSegment

◆ m_profile

◆ m_trajectory