kuon::KuonWheelTrajectoryFeedback Class Reference

Wheel trajectory feedback class. More...

#include <kuonTraj.h>

Public Member Functions
	KuonWheelTrajectoryFeedback ()
	Default constructor.
	KuonWheelTrajectoryFeedback (const KuonWheelTrajectoryFeedback &src)
	Copy constructor.
	~KuonWheelTrajectoryFeedback ()
	Destructor.
KuonWheelTrajectoryFeedback	operator= (const KuonWheelTrajectoryFeedback &rhs)
	Assignment operator. More...
uint_t	getTimeFromStart ()
	Get time from start of desired trajectory. More...
size_t	getNumPoints ()
	Get the number of wheel points in trajectory. More...
KuonWheelTrajectoryPoint &	operator[] (const size_t i)
	Subscript operator to get reference to given trajectory. More...
void	clear ()
	Clear data.

Static Public Attributes
static const int	TRAJ_DESIRED = 0
	desired trajectory
static const int	TRAJ_ACTUAL = 1
	actual trajectory
static const int	TRAJ_NUMOF = 2
	number of trajectories

Protected Attributes
KuonWheelTrajectoryPoint	m_trajectory [TRAJ_NUMOF]

Detailed Description

Wheel trajectory feedback class.

The feedback provides informaation about the last issued desired trajectory and the current trajectory.

Definition at line 319 of file kuonTraj.h.

Member Function Documentation

size_t kuon::KuonWheelTrajectoryFeedback::getNumPoints ( )

inline

Get the number of wheel points in trajectory.

Returns

Number of points.

Definition at line 383 of file kuonTraj.h.

    {
      return m_trajectory[TRAJ_DESIRED].getNumPoints();
    }

uint_t kuon::KuonWheelTrajectoryFeedback::getTimeFromStart ( )

inline

Get time from start of desired trajectory.

Returns

Duration.

Definition at line 373 of file kuonTraj.h.

    {
      return m_trajectory[TRAJ_DESIRED].getTimeFromStart();
    }

KuonWheelTrajectoryFeedback kuon::KuonWheelTrajectoryFeedback::operator= ( const KuonWheelTrajectoryFeedback &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 358 of file kuonTraj.h.

    {
      for(int i = 0; i< TRAJ_NUMOF; ++i)
      {
        m_trajectory[i] = rhs.m_trajectory[i];
      }
      return *this;
    }

KuonWheelTrajectoryPoint& kuon::KuonWheelTrajectoryFeedback::operator[] ( const size_t  i )

inline

Subscript operator to get reference to given trajectory.

Parameters

i	Trajectory point Index.

Returns

Trajectory.

Definition at line 395 of file kuonTraj.h.

    {
      return i < TRAJ_NUMOF? m_trajectory[i]: m_trajectory[TRAJ_DESIRED];
    }

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

• include/Kuon/kuonTraj.h