DUNE::Monitors::ServoPositionMonitor< T > Class Template Reference

Public Member Functions
	ServoPositionMonitor (const T error_threshold, const T rate_factor, const double detection_delay, const unsigned average_samples, const T max_rotation)
	~ServoPositionMonitor (void)
bool	updateAndTest (const T position, const T command, std::string *description)

Constructor & Destructor Documentation

template<typename T >

DUNE::Monitors::ServoPositionMonitor< T >::ServoPositionMonitor ( const T  error_threshold, const T  rate_factor, const double  detection_delay, const unsigned  average_samples, const T  max_rotation  )

inline

Constructor.

Parameters

[in]	error_threshold	value above which a position fault detection will trigger
[in]	rate_factor	factor to compare between accumulated difference in position and command sent to servo
[in]	detection_delay	delay in seconds before a detection is triggered
[in]	average_samples	number of samples to use in the delayed trigger
[in]	max_rotation	maximum rotation rate of the servo in radians per second

template<typename T >

DUNE::Monitors::ServoPositionMonitor< T >::~ServoPositionMonitor ( void  )

inline

Destructor.

References DUNE::Memory::clear().

Member Function Documentation

template<typename T >

bool DUNE::Monitors::ServoPositionMonitor< T >::updateAndTest ( const T  position, const T  command, std::string *  description  )

inline

Update function with position and command values Describe fault detected.

Parameters

[in]	position	position measurement to be used in the detection
[in]	command	set position command to be used in the detection
[out]	description	description of the fault detected, if any

Returns

true if a fault was detected and false otherwise

References DUNE::Time::Clock::get(), DUNE::Utils::String::str(), and DUNE::Math::trimValue().

Collaboration diagram for DUNE::Monitors::ServoPositionMonitor< T >: