Added library reflexxes_II and small tutorial package. (both moved fr…

…om the bitbucket repo)

reflexxes_II/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+rosbuild_init()
+
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+rosbuild_add_library(${PROJECT_NAME} src/ReflexxesAPI.cpp
+                                     src/TypeIIRMLPolynomial.cpp src/TypeIIRMLStep2Profiles.cpp
+                                     src/TypeIIRMLPosition.cpp src/TypeIIRMLStep2WithoutSynchronization.cpp
+                                     src/TypeIIRMLCalculatePositionalExtrems.cpp src/TypeIIRMLQuicksort.cpp                     
+                                     src/TypeIIRMLStep3.cpp src/TypeIIRMLDecisions.cpp                       
+                                     src/TypeIIRMLSetupModifiedSelectionVector.cpp src/TypeIIRMLVelocityCalculatePositionalExtrems.cpp
+                                     src/TypeIIRMLDecisionTree1A.cpp src/TypeIIRMLStep1.cpp                         
+                                     src/TypeIIRMLVelocity.cpp src/TypeIIRMLDecisionTree1B.cpp                  
+                                     src/TypeIIRMLStep1IntermediateProfiles.cpp src/TypeIIRMLVelocityFallBackStrategy.cpp
+                                     src/TypeIIRMLDecisionTree1C.cpp src/TypeIIRMLStep1Profiles.cpp                 
+                                     src/TypeIIRMLVelocityIsPhaseSynchronizationPossible.cpp src/TypeIIRMLDecisionTree2.cpp                   
+                                     src/TypeIIRMLStep2.cpp src/TypeIIRMLVelocityMethods.cpp
+                                     src/TypeIIRMLFallBackStrategy.cpp src/TypeIIRMLStep2IntermediateProfiles.cpp     
+                                     src/TypeIIRMLVelocitySetupPhaseSyncSelectionVector.cpp src/TypeIIRMLIsPhaseSynchronizationPossible.cpp  
+                                     src/TypeIIRMLStep2PhaseSynchronization.cpp)

reflexxes_II/Makefile

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+include $(shell rospack find mk)/cmake.mk

reflexxes_II/include/RMLFlags.h

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+//  ---------------------- Doxygen info ----------------------
+//! \file RMLFlags.h
+//!
+//! \brief
+//! Header file for the class RMLFlags
+//!
+//! \details 
+//! Flags to parameterize the On-Line Trajectory Generation algorithms.
+//! This basis data structure is inherited to the structures 
+//! RMLPositionFlags and RMLVelocityFlags
+//!
+//! \sa RMLPositionFlags
+//! \sa RMLVelocityFlags
+//! \n
+//! \n
+//! \n
+//! Reflexxes GmbH\n
+//! Sandknoell 7\n
+//! D-24805 Hamdorf\n
+//! GERMANY\n
+//! \n
+//! http://www.reflexxes.com\n
+//!
+//! \date October 2012
+//! 
+//! \version 1.2.3
+//!
+//!	\author Torsten Kroeger, <[email protected]>
+//!	
+//!
+//! \note Copyright (C) 2012 Reflexxes GmbH.
+//  ----------------------------------------------------------
+//   For a convenient reading of this file's source code,
+//   please use a tab width of four characters.
+//  ----------------------------------------------------------
+
+
+#ifndef __RMLFlags__
+#define __RMLFlags__
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \class RMLFlags
+//! 
+//! \brief
+//! Data structure containing flags to parameterize the execution of the
+//! On-Line Trajectory Generation algorithm
+//  ----------------------------------------------------------
+class RMLFlags
+{
+
+protected:
+
+//  ---------------------- Doxygen info ----------------------
+//! \fn RMLFlags(void)
+//! 
+//! \brief
+//! Constructor of the class
+//!
+//! \note
+//! This is only the base class for the classes\n\n
+//! <ul>
+//!  <li>RMLPositionFlags and</li>
+//!  <li>RMLVelocityFlags,\n\n</li>
+//! </ul>
+//! such that the constructor is declared \c protected.
+//  ----------------------------------------------------------
+    RMLFlags(void)
+    {
+    }
+
+public:
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \fn ~RMLFlags(void)
+//! 
+//! \brief
+//! Destructor of the class RMLFlags
+//  ----------------------------------------------------------
+    ~RMLFlags(void)
+    {
+    }
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \fn inline bool operator == (const RMLFlags &Flags) const
+//! 
+//! \brief
+//! Equal operator
+//!
+//! \return
+//!\c true if all attributes of both objects are equal; \c false otherwise
+//  ----------------------------------------------------------
+    inline bool operator == (const RMLFlags &Flags) const
+    {
+        return (	(this->SynchronizationBehavior
+                        ==	Flags.SynchronizationBehavior)
+                &&	(this->EnableTheCalculationOfTheExtremumMotionStates
+                        ==	Flags.EnableTheCalculationOfTheExtremumMotionStates)	);		
+    }
+
+//  ---------------------- Doxygen info ----------------------
+//! \fn inline bool operator != (const RMLFlags &Flags) const
+//! 
+//! \brief
+//! Unequal operator
+//!
+//! \return
+//!\c false if all attributes of both objects are equal; \c true otherwise
+//  ----------------------------------------------------------
+    inline bool operator != (const RMLFlags &Flags) const
+    {
+        return(!(*this == Flags));
+    }
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \enum SyncBehaviorEnum
+//! 
+//! \brief
+//! Enumeration whose values specify the synchronization method of the
+//! On-Line Trajectory Generation algorithm
+//!
+//! \sa RMLFlags::SynchronizationBehavior
+//! \sa \ref page_SynchronizationBehavior
+//! \sa \ref page_PSIfPossible
+//  ----------------------------------------------------------
+    enum SyncBehaviorEnum
+    {
+        //! \brief
+        //! This is the default value. If it is possible to calculate a
+        //! phase-synchronized (i.e., homothetic) trajectory, the algorithm
+        //! will generate it. A more detailed description of this flag can
+        //!  be found on the page \ref page_PSIfPossible.
+        PHASE_SYNCHRONIZATION_IF_POSSIBLE	=	0	,
+        //! \brief
+        //! Even if it is possible to calculate a phase-synchronized
+        //! trajectory, only a time-synchronized trajectory will be
+        //! provided. More information can be found on page
+        //! \ref page_SynchronizationBehavior.
+        ONLY_TIME_SYNCHRONIZATION			=	1	,
+        //! \brief
+        //! Only phase-synchronized trajectories are allowed. If it is not
+        //! possible calculate a phase-synchronized trajectory, an error
+        //! will be returned (but feasible, steady, and continuous
+        //! output values will still be computed). More information can be
+        //! found on page \ref page_SynchronizationBehavior.
+        ONLY_PHASE_SYNCHRONIZATION			=	2	,
+        //! \brief
+        //! No synchronization will be performed, and all selected degrees
+        //! of freedom are treated independently. 
+        NO_SYNCHRONIZATION					=	3
+    };
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \var unsigned char SynchronizationBehavior
+//! 
+//! \brief
+//! This value specifies the desired synchronization behavior
+//! 
+//! \details
+//! The following values are possible:
+//! 
+//! - RMLFlags::PHASE_SYNCHRONIZATION_IF_POSSIBLE
+//! - RMLFlags::ONLY_TIME_SYNCHRONIZATION
+//! - RMLFlags::ONLY_PHASE_SYNCHRONIZATION
+//! - RMLFlags::NO_SYNCHRONIZATION
+//!
+//! Further details about time- and phase-synchronization can be found 
+//! in the section on \ref page_SynchronizationBehavior and at
+//! RMLFlags::SyncBehaviorEnum.
+//! 
+//! \sa RMLPositionFlags
+//! \sa RMLVelocityFlags
+//! \sa RMLPositionOutputParameters::IsTrajectoryPhaseSynchronized()
+//! \sa RMLVelocityOutputParameters::IsTrajectoryPhaseSynchronized()
+//! \sa \ref page_SynchronizationBehavior
+//! \sa \ref page_PSIfPossible
+//  ----------------------------------------------------------	
+    unsigned char		SynchronizationBehavior;
+
+
+//  ---------------------- Doxygen info ----------------------
+//! \var bool EnableTheCalculationOfTheExtremumMotionStates
+//! 
+//! \brief
+//! A flag to enable or disable the calculation of the extremum states of motion of the
+//! currently calculated trajectory
+//! 
+//! \details
+//! If this flag is set, a call of
+//! 
+//! - ReflexxesAPI::RMLPosition() or
+//! - ReflexxesAPI::RMLVelocity()
+//! 
+//! will not only calculate the desired trajectory, but also the motion states
+//! at the extremum positions. These values will be accessible through the methods
+//! of the classes
+//! 
+//! - RMLPositionOutputParameters and
+//! - RMLVelocityOutputParameters
+//! 
+//! \remark
+//! In average, the calculation of the extremum states of motion takes about five percent
+//! the overall computational effort of the OTG algorithm, such that the maximum 
+//! execution time of the algorithm will be decreased by disabling this flag.
+//! 
+//! \note
+//! The default value for this flag is \c true.
+//!
+//! \sa \ref page_OutputValues
+//! \sa \ref page_FinalStateReachedBehavior
+//! \sa \ref page_PSIfPossible\n\n
+//  ----------------------------------------------------------						
+    bool				EnableTheCalculationOfTheExtremumMotionStates;
+
+};// class RMLFlags
+
+
+
+#endif
+
+