modelStepTrajectory
Instant switch from initial position to final position
Extends from DeltaRobot.Icons.StepTrajectory (Icon for 'StepTrajectory' model), PartialTrajectoryModel (This model collects all the common parameters and interfaces of the trajectory models).
Parameters
| Type | Name | Default | Description |
|---|---|---|---|
| Real[3] | direction (from PartialTrajectoryModel) | normalize(stopPosition - startPosition) | Unit vector that indicates the direction of motion |
| SI.Distance | totalDistance (from PartialTrajectoryModel) | norm(stopPosition - startPosition) | Distance from initial point to final point |
| SI.Time | stopTime (from PartialTrajectoryModel) | startTime + transitionTime | output = stopPosition for time>=stopTime |
| Position | |||
| SI.Position[3] | startPosition (from PartialTrajectoryModel) | gp.initPlatformPos | Initial platform position resolved in base frame |
| SI.Position[3] | stopPosition (from PartialTrajectoryModel) | startPosition | Final platform position resolved in base frame |
| Time | |||
| SI.Time | startTime (from PartialTrajectoryModel) | 0 | output = startPosition for time<=startTime |
| SI.Time | transitionTime (from PartialTrajectoryModel) | 1 | Time required for the motion |
Connectors
| Type | Name | Default | Description |
|---|---|---|---|
| Interfaces.Pose | pose (from PartialTrajectoryModel) |
Components
| Type | Name | Default | Description |
|---|---|---|---|
| DeltaRobot.Components.GlobalParameters | gp (from PartialTrajectoryModel) | Object with all global parameters | |
| SI.Position[3] | position (from PartialTrajectoryModel) | Current position vector | |
| SI.Position | distance (from PartialTrajectoryModel) | Current distance from 'startPosition' to the current position | |
| Interfaces.PoseMux | mux (from PartialTrajectoryModel) | ||
| Modelica.Blocks.Sources.Constant | const_startTime (from PartialTrajectoryModel) | ||
| Modelica.Blocks.Sources.Constant | const_stopTime (from PartialTrajectoryModel) |