okapi::VelMath Class Reference

#include <velMath.hpp>

Public Member Functions
	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.
virtual	~VelMath ()
virtual QAngularSpeed	step (double inewPos)
	Calculates the current velocity and acceleration.
virtual void	setTicksPerRev (double iTPR)
	Sets ticks per revolution (or whatever units you are using).
virtual QAngularSpeed	getVelocity () const
virtual QAngularAcceleration	getAccel () const

Protected Attributes
std::shared_ptr< Logger >	logger
QAngularSpeed	vel {0_rpm}
QAngularSpeed	lastVel {0_rpm}
QAngularAcceleration	accel {0.0}
double	lastPos {0}
double	ticksPerRev
QTime	sampleTime
std::unique_ptr< AbstractTimer >	loopDtTimer
std::unique_ptr< Filter >	filter

Detailed Description

Definition at line 17 of file velMath.hpp.

Constructor & Destructor Documentation

VelMath()

okapi::VelMath::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.

Calculates filtered velocity. Throws a std::invalid_argument exception if iticksPerRev is zero.

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.
ilogger	The logger this instance will log to.

~VelMath()

virtual okapi::VelMath::~VelMath ( )

virtual

Member Function Documentation

getAccel()

virtual QAngularAcceleration okapi::VelMath::getAccel ( ) const

virtual

Returns

The last calculated acceleration.

getVelocity()

virtual QAngularSpeed okapi::VelMath::getVelocity ( ) const

virtual

Returns

The last calculated velocity.

setTicksPerRev()

virtual void okapi::VelMath::setTicksPerRev ( double  iTPR )

virtual

Sets ticks per revolution (or whatever units you are using).

Throws a std::invalid_argument exception if iticksPerRev is zero.

Parameters

iTPR	The number of ticks per revolution.

step()

virtual QAngularSpeed okapi::VelMath::step ( double  inewPos )

virtual

Calculates the current velocity and acceleration.

Returns the (filtered) velocity.

Parameters

inewPos

The new position measurement.

Returns

The new velocity estimate.

Member Data Documentation

accel

QAngularAcceleration okapi::VelMath::accel {0.0}

protected

Definition at line 66 of file velMath.hpp.

filter

std::unique_ptr<Filter> okapi::VelMath::filter

protected

Definition at line 72 of file velMath.hpp.

lastPos

double okapi::VelMath::lastPos {0}

protected

Definition at line 67 of file velMath.hpp.

lastVel

QAngularSpeed okapi::VelMath::lastVel {0_rpm}

protected

Definition at line 65 of file velMath.hpp.

logger

std::shared_ptr<Logger> okapi::VelMath::logger

protected

Definition at line 63 of file velMath.hpp.

loopDtTimer

std::unique_ptr<AbstractTimer> okapi::VelMath::loopDtTimer

protected

Definition at line 71 of file velMath.hpp.

sampleTime

QTime okapi::VelMath::sampleTime

protected

Definition at line 70 of file velMath.hpp.

ticksPerRev

double okapi::VelMath::ticksPerRev

protected

Definition at line 68 of file velMath.hpp.

vel

QAngularSpeed okapi::VelMath::vel {0_rpm}

protected

Definition at line 64 of file velMath.hpp.

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

• include/okapi/api/filter/velMath.hpp