Implementation of a PVT buffer (cubic interpolation). More...
#include <InterpolatedPositionBuffer.hpp>
Inheritance diagram for roboticslab::PvtBuffer:
Public Member Functions | |
| std::uint16_t | getBufferSize () const override |
| Get PT/PVT buffer size. | |
| std::int16_t | getSubMode () const override |
| Generate interpolation submode register value (object 60C0h). | |
| InterpolatedPositionBuffer (double samplingPeriod, double interpolationPeriod) | |
| Constructor, sets internal invariable parameters. | |
 Public Member Functions inherited from roboticslab::InterpolatedPositionBuffer | |
| 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). | |
| std::uint16_t | getBufferConfig () const |
| Get buffer configuration (object 2074h). | |
| 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 Member Functions | |
| std::size_t | getOffset () const override |
| Determine how many points should be left in the queue on each non-final batch update. | |
| std::uint64_t | makeDataRecord (const ip_record &previous, const ip_record ¤t, const ip_record &next) override |
| Generate interpolation data record given three contiguous position target (object 60C1h). | |
| Protected Member Functions inherited from roboticslab::InterpolatedPositionBuffer | |
| std::uint8_t | getIntegrityCounter () const |
| Retrieve current integrity counter value. | |
| 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. | |
Additional Inherited Members | |
| Protected Types inherited from roboticslab::InterpolatedPositionBuffer | |
| using | ip_record = std::pair< int, double > |
| Protected Attributes inherited from roboticslab::InterpolatedPositionBuffer | |
| const double | samplingPeriod |
Detailed Description
By using the lasts two position targets, this class computes the mean velocity target required by the linear interpolator.
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
