roboticslab::InterpolatedPositionBuffer Class Reference

Base class for a PT/PVT buffer of setpoints. More...

#include <InterpolatedPositionBuffer.hpp>

Inheritance diagram for roboticslab::InterpolatedPositionBuffer:

Public Member Functions
	InterpolatedPositionBuffer (double samplingPeriod, double interpolationPeriod)
	Constructor, sets internal invariable parameters.
virtual	~InterpolatedPositionBuffer ()=default
	Virtual destructor.
void	setInitial (int initialTarget)
	Store initial position (internal units).
int	getPeriodMs () const
	Get PT/PVT period if fixed (synchronous), zero otherwise (asynchronous).
virtual std::uint16_t	getBufferSize () const =0
	Get PT/PVT buffer size.
std::uint16_t	getBufferConfig () const
	Get buffer configuration (object 2074h).
virtual std::int16_t	getSubMode () const =0
	Generate interpolation submode register value (object 60C0h).
void	addSetpoint (int target)
	Place a new setpoint (internal units) at the end of the queue.
std::vector< std::uint64_t >	popBatch (bool fullBuffer)
	Generate next batch of setpoints popped from the front of the queue.
int	getPrevTarget () const
	Retrieve last point loaded into the buffer (internal units).
bool	isQueueReady () const
	Report whether there are enough points in the queue to fill the buffer.
bool	isQueueEmpty () const
	Report whether there are no more points in the queue.
void	clearQueue ()
	Clear internal queue.

Protected Types
using	ip_record = std::pair< int, double >

Protected Member Functions
std::uint8_t	getIntegrityCounter () const
	Retrieve current integrity counter value.
virtual std::size_t	getOffset () const
	Determine how many points should be left in the queue on each non-final batch update.
std::uint16_t	getSampledTime (double currentTimestamp)
	Obtain time samples (internal units) for current segment, update internal counters.
double	getMeanVelocity (const ip_record &earliest, const ip_record &latest) const
	Compute mean velocity (internal units) between two setpoints.
virtual std::uint64_t	makeDataRecord (const ip_record &previous, const ip_record &current, const ip_record &next)=0
	Generate interpolation data record given three contiguous position target (object 60C1h).

Protected Attributes
const double	samplingPeriod

Private Attributes
const std::uint16_t	fixedSamples
std::uint8_t	integrityCounter
ip_record	prevTarget
double	initialTimestamp
int	sampleCount
std::deque< ip_record >	pendingTargets
std::mutex	queueMutex

Detailed Description

Stores an internal queue of setpoints aimed to be processed in batches on demand by client code.

Member Function Documentation

getBufferSize()

virtual std::uint16_t roboticslab::InterpolatedPositionBuffer::getBufferSize ( ) const

pure virtual

Implemented in roboticslab::PtBuffer, and roboticslab::PvtBuffer.

getOffset()

std::size_t InterpolatedPositionBuffer::getOffset ( ) const

protectedvirtual

Reimplemented in roboticslab::PvtBuffer.

getSubMode()

virtual std::int16_t roboticslab::InterpolatedPositionBuffer::getSubMode ( ) const

pure virtual

Implemented in roboticslab::PtBuffer, and roboticslab::PvtBuffer.

makeDataRecord()

virtual std::uint64_t roboticslab::InterpolatedPositionBuffer::makeDataRecord ( const ip_record &  previous, const ip_record &  current, const ip_record &  next  )

protectedpure virtual

Implemented in roboticslab::PtBuffer, and roboticslab::PvtBuffer.

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

• libraries/YarpPlugins/TechnosoftIpos/embedded-pid/InterpolatedPositionBuffer.hpp
• libraries/YarpPlugins/TechnosoftIpos/embedded-pid/InterpolatedPositionBuffer.cpp