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: http://www.apo.nmsu.edu/Telescopes/TCC/html/namespacetcc_1_1mov_1_1check_segment.html
Дата изменения: Tue Sep 15 02:25:41 2015 Дата индексирования: Sun Apr 10 05:04:28 2016 Кодировка: Поисковые слова: п п п п п п п п п п п п п п п п п п п п п п п |
lsst.tcc
1.2.2-3-g89ecb63
|
Functions | |
def | checkSegment |
Check a suggested path segment of constant jerk. More... | |
Variables | |
list | __all__ = ["checkSegment"] |
def tcc.mov.checkSegment.checkSegment | ( | pA, | |
vA, | |||
pB, | |||
vB, | |||
dt, | |||
doPos, | |||
doVel, | |||
doAccel, | |||
doJerk, | |||
axisLim | |||
) |
Check a suggested path segment of constant jerk.
[in] | pA | position of starting point at time t = 0 |
[in] | vA | velocity of starting point at time t = 0 |
[in] | pB | position of ending point at time t = dt |
[in] | vB | velocity of ending point at time t = dt |
[in] | dt | duration of motion |
[in] | doPos | log test position? |
[in] | doVel | log test velocity? |
[in] | doAccel | log test acceleration? |
[in] | doJerk | log test jerk? |
[in] | axisLim | axis limits (a tcc.base.AxisLim) |
Error Conditions: If min and max position, max velocity, etc. cannot be computed for the path, errCode is set to tcc.base.AxisErr_CannotCompute.
If a limit would be exceeded along the path, errCode is set appropriately. Note: limits are checked in this order: minpos, maxpos, vel, accel, jerk and checking terminates at the first failure.
Warnings: Even if you request that position limits be checked, some paths will be accepted that have points outside the allowed region. See Details.
Position and velocity limits are not checked with strict accuracy, but instead the limits are padded with a small fudge factor. See Details.
Details: In handling position limits, we must allow motion from out of bounds towards being in bounds. Hence this routine allows paths with points outside the position limits in some circumstances. Specifically:
If the beginning position of the path is outside the allowed limits, AND if the extreme pos. of the path is FURTHER outside the allowed limits, ONLY :is the path considered unacceptable due to position limits.
History: 2013-12-06 ROwen Converted from mov_checkPath.for
Definition at line 8 of file checkSegment.py.
list tcc.mov.checkSegment.__all__ = ["checkSegment"] |
Definition at line 6 of file checkSegment.py.