| Quellcodebibliothek Statistik Leitseite products/sources/formale Sprachen/VDM/VDMPP/SAFERPP/ (Wiener Entwicklungsmethode ©) Datei vom 13.4.2020 mit Größe 1 kB |
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Quelle SixDOfCommand.vdmpp Sprache: VDM |
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\section{SixDOfCommand Class}
\begin{vdm_al} class SixDOfCommand instance variables protected hcu : HandControlUnit; protected rotcmd : RotationCommand := new RotationCommand(); protected trancmd : TranslationCommand := new TranslationCommand(); operations public GetCommand : () ==> Command`AxisMap * Command`AxisMap GetCommand() == return(mk_(trancmd.GetAxesdir(), rotcmd.GetAxesdir())); public SetHCULink : HandControlUnit ==> () SetHCULink(h) == hcu := h; public ConvertGrip : () ==> () ConvertGrip() == let mk_(x, pitch, yaw_y, roll_z, modeswitch) = hcu.ReadGrip(), tran = {Command`X |-> x, Command`Y |-> if modeswitch = <Tran> then yaw_y else <Zero>, Command`Z |-> if modeswitch = <Tran> then roll_z else <Zero>}, rot = {Command`ROLL |-> if modeswitch = <Rot> then roll_z else <Zero>, Command`PITCH |->pitch, Command`YAW |-> if modeswitch = <Rot> then yaw_y else <Zero>} in (trancmd.SetAxesdir(tran); rotcmd.SetAxesdir(rot)); -- Alternative formulation of ConvertGrip -- let mk_(x, pitch, yaw_y, roll_z, modeswitch) = hcu.ReadGrip(), -- in (trancmd.SuppressAllAxes(); -- rotcmd.SuppressAllAxes(); -- trancmd.SetDirection(Command`X, x); -- rotcmd.SetDirection(Command`PITCH, pitch); -- if modeswitch = <Tran> -- then (trancmd.SetDirection(Command`Y, yaw_y); -- trancmd.SetDirection(Command`Z, roll_z)) -- else (rotcmd.SetDirection(Command`YAW, yaw_y); -- rotcmd.SetDirection(Command`ROLL, roll_z))); end SixDOfCommand \end{vdm_al} The test coverage table for the SixDOfCommand class looks like: \begin{rtinfo}{vdm.tc}[SixDOfCommand] \end{rtinfo} ¤ Dauer der Verarbeitung: 0.0 Sekunden (vorverarbeitet) ¤*© Formatika GbR, Deutschland |
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2026-03-28