VelMath class
Contents
Constructors, destructors, conversion operators
-
VelMath(double iticksPerRev,
std::unique_ptr<Filter> ifilter,
QTime isampleTime,
std::unique_ptr<AbstractTimer> iloopDtTimer,
std::shared_ptr<Logger> ilogger = Logger::
getDefaultLogger()) - Velocity math helper.
- ~VelMath() virtual
Public functions
- auto step(double inewPos) -> QAngularSpeed virtual
- Calculates the current velocity and acceleration.
- void setTicksPerRev(double iTPR) virtual
- Sets ticks per revolution (or whatever units you are using).
- auto getVelocity() const -> QAngularSpeed virtual
- auto getAccel() const -> QAngularAcceleration virtual
Protected variables
- std::shared_ptr<Logger> logger
- QAngularSpeed vel
- QAngularSpeed lastVel
- QAngularAcceleration accel
- double lastPos
- double ticksPerRev
- QTime sampleTime
- std::unique_ptr<AbstractTimer> loopDtTimer
- std::unique_ptr<Filter> filter
Function documentation
okapi::
Velocity math helper.
| Parameters | |
|---|---|
| iticksPerRev | The number of ticks per revolution (or whatever units you are using). |
| ifilter | The filter used for filtering the calculated velocity. |
| isampleTime | The minimum time between velocity measurements. |
| iloopDtTimer | |
| ilogger | The logger this instance will log to. |
Calculates filtered velocity. Throws a std::invalid_argument exception if iticksPerRev is zero.
QAngularSpeed okapi::
Calculates the current velocity and acceleration.
| Parameters | |
|---|---|
| inewPos | The new position measurement. |
| Returns | The new velocity estimate. |
Returns the (filtered) velocity.
void okapi::
Sets ticks per revolution (or whatever units you are using).
| Parameters | |
|---|---|
| iTPR | The number of ticks per revolution. |
Throws a std::invalid_argument exception if iticksPerRev is zero.
QAngularSpeed okapi::
| Returns | The last calculated velocity. |
|---|
QAngularAcceleration okapi::
| Returns | The last calculated acceleration. |
|---|