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LinkTrjPVTFile.h
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LinkTrjPVTFile.h
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#pragma once
#include "CML.h"
#include "CML_TrjScurve.h"
using namespace CML;
class LinkTrjPVTFile: public LinkTrajectory
{
int m_axNum;
int m_ptNum;
int m_cnt;
double** m_P;
double** m_V;
double* m_T;
/// Private copy constructor (not supported)
LinkTrjPVTFile( const LinkTrjPVTFile& );
/// Private assignment operator (not supported)
LinkTrjPVTFile& operator=( const LinkTrjPVTFile& );
public:
LinkTrjPVTFile(void);
~LinkTrjPVTFile(void);
// CKim - Set the number of linked axis and number of point in trajectory
void InitAxes(int axNum, int ptNum);
// CKim - Set one pvt point
void AddPVT(int i, uunit p[], uunit v[], uunit t);
virtual int GetDim( void ) { return m_axNum; }
virtual const Error *StartNew(void) { return 0; }//&CML::Error::OK; };
virtual void Finish(void) { };
// CKim - this is the function called by CAN service to send trajectory
// return 0 for the time to end.
virtual const Error *NextSegment( uunit pos[], uunit vel[], uint8 &time );
};
/***************************************************************************/
class LinkTrjScurve: public LinkTrajectory
{
TrjScurve trj;
Point<CML_MAX_AMPS_PER_LINK> start;
double scale[CML_MAX_AMPS_PER_LINK];
/// Private copy constructor (not supported)
LinkTrjScurve( const LinkTrjScurve& );
/// Private assignment operator (not supported)
LinkTrjScurve& operator=( const LinkTrjScurve& );
public:
LinkTrjScurve();
const Error *Calculate( PointN &start, PointN &end, uunit vel, uunit acc, uunit dec, uunit jrk );
int GetDim( void ){ return start.getDim(); }
const Error *StartNew( void );
void Finish( void );
const Error *NextSegment( uunit pos[], uunit vel[], uint8 &time );
};