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yarp-devices
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Stores last encoder reads, obtains mean speeds and accelerations via differentiation.
#include <EncoderRead.hpp>
Public Member Functions | |
| EncoderRead (double samplingPeriod) | |
| Constructor. | |
| void | update (std::int32_t newPos) |
| Set new position (counts), update speeds (counts/sample) and accelerations (counts/sample^2). | |
| void | reset (std::int32_t pos=0) |
| Reset internals to zero, pick provided position (encoder counts). | |
| std::int32_t | queryPosition () const |
| Retrieve current position (encoder counts). | |
| double | querySpeed () const |
| Retrieve instantaneous speed (encoder counts/sample). | |
| double | queryAcceleration () const |
| Retrieve instantaneous acceleration (encoder counts/sample^2). | |
| double | queryTime () const |
| Retrieve last timestamp (seconds). | |
Private Attributes | |
| const double | samplingFreq |
| std::int32_t | lastPosition |
| double | lastSpeed |
| double | lastAcceleration |
| yarp::os::Stamp | lastStamp |
| std::mutex | encoderMutex |
1.9.1