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 ¤t, const ip_record &next)=0 |
| Generate interpolation data record given three contiguous position target (object 60C1h). | |
Protected Attributes | |
| const double | samplingPeriod |
Detailed Description
Stores an internal queue of setpoints aimed to be processed in batches on demand by client code.
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
