laeKin.h File Reference

The Laelaps kinematics and dynamics class interface. More...

#include <sys/time.h>
#include <time.h>
#include <pthread.h>
#include <vector>
#include <map>
#include "rnr/rnrconfig.h"
#include "rnr/log.h"
#include "Laelaps/RoboClaw.h"
#include "Laelaps/laelaps.h"
#include "Laelaps/laeUtils.h"
#include "Laelaps/laeDesc.h"
#include "Laelaps/laeTune.h"
#include "Laelaps/laeMotor.h"
#include "Laelaps/laeGpio.h"
#include "Laelaps/laeTraj.h"
#include "Laelaps/laePowertrain.h"
#include "Laelaps/laePlatform.h"

Go to the source code of this file.

Classes
class	laelaps::LaeKinematics
	Laelaps kinematics class. More...
class	laelaps::LaeKinAction
	Laelaps kinematics base action class. More...
class	laelaps::LaeKinActionVelocity
	Laelaps kinematics velocity action class. More...
class	laelaps::LaeKinActionDutyCycle
	Laelaps kinematics duty cycle action class. More...
class	laelaps::LaeKinActionTwist
	Laelaps kinematics velocity action class. More...

Namespaces
	laelaps
	The Laelaps namespace encapsulates all Laelaps related constructs.

Detailed Description

The Laelaps kinematics and dynamics class interface.

The class instance starts a kinematics thread to sense kinematic chain dynamics, control forward geometry kinematics, and monitor servo health.

The kinematics includes all physical kinematic chains. The individual chains are controlled by the higher-level interfaces such as MoveIt!

The kinematics thread performs several functions:

• Position, velocity, acceleration (future), and torque monitoring.
• Goal motor position and velocity PID control.
• Torque limiting override control.
• Servo health monitoring.

Kinedynamics Algorithm:

* sense()
*   for each powertrain
*     sense dynamics (x reads)
* react()
*   for each powertrain
*     stop motion if necessary (x writes)
* plan()
*   for each powertrain
*     plan motion.
* act()
*   sync write (x writes)
* monitor()
*   health of motor controller with two motors  (x reads)
* block wait for next cycle time
* 

Author

Robin Knight (robin.nosp@m..kni.nosp@m.ght@r.nosp@m.oadn.nosp@m.arrow.nosp@m.s.co.nosp@m.m)

Copyright

© 2015-2017. RoadNarrows LLC.
http://www.roadnarrows.com
All Rights Reserved

Definition in file laeKin.h.