Stores last encoder reads, obtains mean speeds and accelerations via differentiation.
#include <EncoderRead.hpp>
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| EncoderRead (double samplingPeriod) |
| | Constructor.
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void | update (std::int32_t newPos) |
| | Set new position (counts), update speeds (counts/sample) and accelerations (counts/sample^2).
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void | reset (std::int32_t pos=0) |
| | Reset internals to zero, pick provided position (encoder counts).
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std::int32_t | queryPosition () const |
| | Retrieve current position (encoder counts).
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double | querySpeed () const |
| | Retrieve instantaneous speed (encoder counts/sample).
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double | queryAcceleration () const |
| | Retrieve instantaneous acceleration (encoder counts/sample^2).
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double | queryTime () const |
| | Retrieve last timestamp (seconds).
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const double | samplingFreq |
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std::int32_t | lastPosition |
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double | lastSpeed |
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double | lastAcceleration |
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yarp::os::Stamp | lastStamp |
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std::mutex | encoderMutex |
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The documentation for this class was generated from the following files:
- libraries/YarpPlugins/TechnosoftIpos/EncoderRead.hpp
- libraries/YarpPlugins/TechnosoftIpos/EncoderRead.cpp
