motion-control.h File Reference

Interface between fsmmove and motion controller. More...

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Functions
int	motion_control_init (void)
	Initializes motion controller.
void	motion_control_done (void)
void	go (Trajectory *t, double append_time)
	Tells trajctory_follower to start moving along trajectory t.
void	get_future_pos (double rel_time_sec, Pos &pos, double &switch_time)
void	stop ()
	switches to newly calculated trajectory to go on it at specific time
Variables
sem_t	recalculation_not_running
sem_t	measurement_received

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Detailed Description

Interface between fsmmove and motion controller.

Author:

Michal Sojka <sojkam1@fel.cvut.cz>, Petr Beneš

Date:

Fri Mar 20 10:35:22 2009

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Function Documentation

void get_future_pos	(	double	rel_time_sec,
		Pos &	pos,
		double &	switch_time
	)

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void go	(	Trajectory *	t,
		double	append_time
	)

Tells trajctory_follower to start moving along trajectory t.

Parameters:

	t	Trajectory to follow.
	append_time	Relative time from the beginning of the actual_trajectory when to append the new one

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void motion_control_done

(

void

)

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int motion_control_init

(

void

)

Initializes motion controller.

Returns:

Zero on success, non-zero otherwise.

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void stop

(

)

switches to newly calculated trajectory to go on it at specific time

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Variable Documentation

sem_t measurement_received

sem_t recalculation_not_running