Package org.robwork.sdurw_control

Class SyncVelocityRamp

  • public class SyncVelocityRamp
extends java.lang.Object
    Provides generation of synchronized velocity ramps for a device

    The synchronized velocity ramp calculates a profile for moving linearly
    between two configurations a quick as possible without violating the
    dynamic limitations specified.

    • Constructor Summary

      Constructors 
      Constructor Description
      SyncVelocityRamp​(long cPtr, boolean cMemoryOwn)  
      SyncVelocityRamp​(Q vellimits, Q acclimits)
      Constructs a ramp generator with specified velocity and acceleration limits

      The limits are assumed to be symmetric and specified with the positive bound
      SyncVelocityRamp​(Device device)
      Constructs a ramp generator a device

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      Q ddx​(double t)
      Returns the accelerations for time t

      If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(),
      respectively.
      void delete()  
      double duration()
      Returns the time it takes to run the profile
      Q dx​(double t)
      Returns the velocities for time t

      If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(),
      respectively.
      static long getCPtr​(SyncVelocityRamp obj)  
      Q getExtremumAccelerations()
      Returns the extremum of the acceleration for the joints
      Q getExtremumVelocities()
      Returns the extremum of the velocities for the joints
      void setTarget​(Q qstart, Q qend)
      Specifies from and to where a ramp should be generated.
      Q x​(double t)
      Returns the configuration for time t

      If t<0 or t>duration() it returns the start and end configurations respectively.

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

    • Constructor Detail

      • SyncVelocityRamp

        public SyncVelocityRamp​(long cPtr,
                        boolean cMemoryOwn)

      • SyncVelocityRamp

        public SyncVelocityRamp​(Device device)
        Constructs a ramp generator a device
        Parameters:
        device - [in] Device to construct ramp for

      • SyncVelocityRamp

        public SyncVelocityRamp​(Q vellimits,
                        Q acclimits)
        Constructs a ramp generator with specified velocity and acceleration limits

        The limits are assumed to be symmetric and specified with the positive bound

        Parameters:
        vellimits - [in] Velocity limits
        acclimits - [in] Acceleration limits

    • Method Detail

      • delete

        public void delete()

      • setTarget

        public void setTarget​(Q qstart,
                      Q qend)
        Specifies from and to where a ramp should be generated.
        Parameters:
        qstart - [in] The start configuration
        qend - [in] The end configuration

      • duration

        public double duration()
        Returns the time it takes to run the profile
        Returns:
        The duration

      • getExtremumVelocities

        public Q getExtremumVelocities()
        Returns the extremum of the velocities for the joints
        Returns:
        Joint extremum velocities

      • getExtremumAccelerations

        public Q getExtremumAccelerations()
        Returns the extremum of the acceleration for the joints
        Returns:
        Joint extremum accelerations

      • x

        public Q x​(double t)
        Returns the configuration for time t

        If t<0 or t>duration() it returns the start and end configurations respectively.

        Parameters:
        t - [in] time
        Returns:
        Configuration at time t

      • dx

        public Q dx​(double t)
        Returns the velocities for time t

        If t<0 or t>duration() it returns velocities corresponding to t=0 and t=duration(),
        respectively.

        Parameters:
        t - [in] time
        Returns:
        Velocities at time t

      • ddx

        public Q ddx​(double t)
        Returns the accelerations for time t

        If t<0 or t>duration() it returns accelerations corresponding to t=0 and t=duration(),
        respectively.

        Parameters:
        t - [in] time
        Returns:
        Accelerations at time t