eeros_architecture:control_system:available_blocks:pathplannercubic
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eeros_architecture:control_system:available_blocks:pathplannercubic [2017/12/12 12:10] – [Path Planner Cubic] graf | eeros_architecture:control_system:available_blocks:pathplannercubic [2020/09/03 08:58] (current) – ursgraf | ||
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====== Path Planner Cubic ====== | ====== Path Planner Cubic ====== | ||
- | A path planner | + | This path planner |
< | < | ||
// | // | ||
Line 8: | Line 8: | ||
2.4000000e-01 | 2.4000000e-01 | ||
</ | </ | ||
- | \\ | + | The jerk within |
- | A socket data block can have zero or one input. | + | [{{ :eeros_architecture: |
+ | |||
+ | The trajectory file is loaded with | ||
<code cpp> | <code cpp> | ||
- | SocketData< | + | init(filename); |
</ | </ | ||
- | This blocks will have a signal input (a signal from another control system block) of type '' | + | where '' |
+ | \\ | ||
+ | When calling | ||
<code cpp> | <code cpp> | ||
- | SocketData< | + | move(startPos); |
- | SocketData< | + | |
</ | </ | ||
- | + | you dispatch | |
- | ===== Parameters ===== | + | \\ |
- | When constructing | + | You can also call |
- | The period of the internal thread determines the transceiver frequency. | + | |
<code cpp> | <code cpp> | ||
- | SocketData< | + | move(time, startPos, deltaPos); |
</ | </ | ||
- | A socket server is established. Input and output signals | + | This will take the trajectory from the file and scale it so that it starts at '' |
- | <code cpp> | + | |
- | SocketData< | + | |
- | </ | + | |
- | This creates a socket client. Input and output signals will be transmitted twice per second. The client connects to a server on the ip-address | + | |
- | ===== Miscellaneous ===== | + | |
- | As soon as a client connects to a socket server a connection is up and running until either one of them stops. It is possible to stop the server or the client and restart it subsequently. In both cases a new connection will be established. \\ | + | |
- | As long as the connection is not yet open the '' | + |
eeros_architecture/control_system/available_blocks/pathplannercubic.1513077046.txt.gz · Last modified: 2017/12/12 12:10 by graf