RMLFlags Class Reference

Data structure containing flags to parameterize the execution of the On-Line Trajectory Generation algorithm. More...

#include <RMLFlags.h>

Inheritance diagram for RMLFlags:

List of all members.

Public Types
enum	SyncBehaviorEnum { PHASE_SYNCHRONIZATION_IF_POSSIBLE = 0, ONLY_TIME_SYNCHRONIZATION = 1, ONLY_PHASE_SYNCHRONIZATION = 2, NO_SYNCHRONIZATION = 3 }
	Enumeration whose values specify the synchronization method of the On-Line Trajectory Generation algorithm. More...
Public Member Functions
	~RMLFlags (void)
	Destructor of the class RMLFlags.
bool	operator== (const RMLFlags &Flags) const
	Equal operator.
bool	operator!= (const RMLFlags &Flags) const
	Unequal operator.
Public Attributes
unsigned char	SynchronizationBehavior
	This value specifies the desired synchronization behavior.
bool	EnableTheCalculationOfTheExtremumMotionStates
	A flag to enable or disable the calculation of the extremum states of motion of the currently calculated trajectory.
Protected Member Functions
	RMLFlags (void)
	Constructor of the class.

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Detailed Description

Data structure containing flags to parameterize the execution of the On-Line Trajectory Generation algorithm.

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Member Enumeration Documentation

enum RMLFlags::SyncBehaviorEnum

Enumeration whose values specify the synchronization method of the On-Line Trajectory Generation algorithm.

See also:

RMLFlags::SynchronizationBehavior

Synchronization Behavior

About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE

Enumerator:

PHASE_SYNCHRONIZATION_IF_POSSIBLE	This is the default value. If it is possible to calculate a phase-synchronized (i.e., homothetic) trajectory, the algorithm will generate it. A more detailed description of this flag can be found on the page About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE.
ONLY_TIME_SYNCHRONIZATION	Even if it is possible to calculate a phase-synchronized trajectory, only a time-synchronized trajectory will be provided. More information can be found on page Synchronization Behavior.
ONLY_PHASE_SYNCHRONIZATION	Only phase-synchronized trajectories are allowed. If it is not possible calculate a phase-synchronized trajectory, an error will be returned (but feasible, steady, and continuous output values will still be computed). More information can be found on page Synchronization Behavior.
NO_SYNCHRONIZATION	No synchronization will be performed, and all selected degrees of freedom are treated independently.

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Constructor & Destructor Documentation

RMLFlags::RMLFlags

(

void

)

[inline, protected]

Constructor of the class.

Note:

This is only the base class for the classes

• RMLPositionFlags and
• RMLVelocityFlags,
  
  

such that the constructor is declared protected.

RMLFlags::~RMLFlags

(

void

)

[inline]

Destructor of the class RMLFlags.

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Member Function Documentation

bool RMLFlags::operator!=

(

const RMLFlags &

Flags

)

const [inline]

Unequal operator.

Returns:

false if all attributes of both objects are equal; true otherwise

bool RMLFlags::operator==

(

const RMLFlags &

Flags

)

const [inline]

Equal operator.

Returns:

true if all attributes of both objects are equal; false otherwise

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Member Data Documentation

bool RMLFlags::EnableTheCalculationOfTheExtremumMotionStates

A flag to enable or disable the calculation of the extremum states of motion of the currently calculated trajectory.

If this flag is set, a call of

• ReflexxesAPI::RMLPosition() or
• ReflexxesAPI::RMLVelocity()

will not only calculate the desired trajectory, but also the motion states at the extremum positions. These values will be accessible through the methods of the classes

• RMLPositionOutputParameters and
• RMLVelocityOutputParameters

Remarks:

In average, the calculation of the extremum states of motion takes about five percent the overall computational effort of the OTG algorithm, such that the maximum execution time of the algorithm will be decreased by disabling this flag.

Note:

The default value for this flag is true.

See also:

Description of Output Values

Behavior after the Final State of Motion is Reached

About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE

unsigned char RMLFlags::SynchronizationBehavior

This value specifies the desired synchronization behavior.

The following values are possible:

• RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE
• RMLFlags::ONLY_TIME_SYNCHRONIZATION
• RMLFlags::ONLY_PHASE_SYNCHRONIZATION
• RMLFlags::NO_SYNCHRONIZATION

Further details about time- and phase-synchronization can be found in the section on Synchronization Behavior and at RMLFlags::SyncBehaviorEnum.

See also:

RMLPositionFlags

RMLVelocityFlags

RMLPositionOutputParameters::IsTrajectoryPhaseSynchronized()

RMLVelocityOutputParameters::IsTrajectoryPhaseSynchronized()

Synchronization Behavior

About the Flag RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE

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

• include/RMLFlags.h