Fawkes API  Fawkes Development Version
emergency_motor_instruct.h
1 
2 /***************************************************************************
3  * emergency_motor_instruct.h - Motor instructor with quadratic approximation
4  *
5  * Created: Thu Jul 10:35:23 2014
6  * Copyright 2014 Tobias Neumann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
23 #define _PLUGINS_COLLI_DRIVE_REALIZATION_EMERGENCY_MOTORINSTRUCT_H_
24 
25 #include "base_motor_instruct.h"
26 
27 namespace fawkes {
28 
30 {
31 public:
33  float frequency,
34  Logger * logger,
35  Configuration * config);
36  virtual ~EmergencyMotorInstruct();
37 
38 private:
39  ///\brief linear implementation of velocity constraints
40  float calculate_rotation(float current, float desired, float time_factor);
41 
42  ///\brief linear implementation of velocity constraints
43  float calculate_translation(float current, float desired, float time_factor);
44 };
45 
46 } // namespace fawkes
47 
48 #endif
The Basic of a Motorinstructor.
Interface for configuration handling.
Definition: config.h:68
This module is a class for validity checks of drive commands and sets those things with respect to th...
EmergencyMotorInstruct(MotorInterface *motor, float frequency, Logger *logger, Configuration *config)
Constructor.
Interface for logging.
Definition: logger.h:42
MotorInterface Fawkes BlackBoard Interface.
Fawkes library namespace.