StreamingMotionGenerator< PositionType > Class Template Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/Control/RobotControl.h>

Motion generators which do not represent a finite motion from A to B, but can follow a moving target The end of the motion can be automatically emitted when reaching the target or upon request. More...

Detailed Description

template<typename PositionType>
class ImFusion::Robotics::StreamingMotionGenerator< PositionType >

Motion generators which do not represent a finite motion from A to B, but can follow a moving target The end of the motion can be automatically emitted when reaching the target or upon request.

Public Member Functions
virtual bool	updateGoal (const PositionType &newGoal)=0
virtual bool	decelerateToZeroVelocity ()=0
	Decelerate to zero velocity as fast as possible (within the RateLimits), and hold the final JointPosition.
virtual bool	endMotionWhenGoalReached () const =0
	If true, the motion will be concluded the next time the commanded position reaches the goal.
virtual bool	setEndMotionWhenGoalReached (bool newValue) const =0
	If true, the motion will be concluded the next time the commanded position reaches the goal.

Member Function Documentation

decelerateToZeroVelocity()

template<typename PositionType>

virtual bool decelerateToZeroVelocity ( )

pure virtual

Decelerate to zero velocity as fast as possible (within the RateLimits), and hold the final JointPosition.

Implemented in RuckigCartesianStreamingMotionGenerator.

endMotionWhenGoalReached()

template<typename PositionType>

virtual bool endMotionWhenGoalReached ( ) const

nodiscardpure virtual

If true, the motion will be concluded the next time the commanded position reaches the goal.

Implemented in RuckigCartesianStreamingMotionGenerator.

setEndMotionWhenGoalReached()

template<typename PositionType>

virtual bool setEndMotionWhenGoalReached ( bool newValue ) const

nodiscardpure virtual

If true, the motion will be concluded the next time the commanded position reaches the goal.

Implemented in RuckigCartesianStreamingMotionGenerator.

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

• RoboticsPlugin/Include/ImFusion/Robotics/Control/RobotControl.h