ParabolicRampND Class Reference

Solves for optimal trajectores for a velocity-bounded ND system. More...

#include <ParabolicRamp.h>

List of all members.

Public Member Functions
void	Derivative (Real t, Vector &x) const
void	Dilate (Real timeScale)
void	Evaluate (Real t, Vector &x) const
bool	IsValid () const
void	Output (Real dt, std::vector< Vector > &path) const
void	SetConstant (const Vector &x)
bool	SolveMinAccel (const Vector &vmax, Real time)
bool	SolveMinTime (const Vector &amax, const Vector &vmax)
bool	SolveMinTimeLinear (const Vector &amax, const Vector &vmax)
void	TrimBack (Real tcut)
void	TrimFront (Real tcut)
Public Attributes
Vector	dx0
Vector	dx1
Real	endTime
	Calculated upon SolveX.
std::vector< ParabolicRamp1D >	ramps
Vector	x0
	Input.
Vector	x1

---

Detailed Description

Solves for optimal trajectores for a velocity-bounded ND system.

Methods are essentially the same as for ParabolicRamp1D.

Definition at line 90 of file ParabolicRamp.h.

---

Member Function Documentation

void ParabolicRampND::Derivative	(	Real	t,
		Vector &	x
	)			const

Definition at line 910 of file ParabolicRamp.cpp.

void ParabolicRampND::Dilate

(

Real

timeScale

)

Definition at line 952 of file ParabolicRamp.cpp.

void ParabolicRampND::Evaluate	(	Real	t,
		Vector &	x
	)			const

Definition at line 903 of file ParabolicRamp.cpp.

bool ParabolicRampND::IsValid

(

)

const

Definition at line 978 of file ParabolicRamp.cpp.

void ParabolicRampND::Output	(	Real	dt,
		std::vector< Vector > &	path
	)			const

Definition at line 917 of file ParabolicRamp.cpp.

void ParabolicRampND::SetConstant

(

const Vector &

x

)

Definition at line 741 of file ParabolicRamp.cpp.

bool ParabolicRampND::SolveMinAccel	(	const Vector &	vmax,
		Real	time
	)

Definition at line 876 of file ParabolicRamp.cpp.

bool ParabolicRampND::SolveMinTime	(	const Vector &	amax,
		const Vector &	vmax
	)

Definition at line 816 of file ParabolicRamp.cpp.

bool ParabolicRampND::SolveMinTimeLinear	(	const Vector &	amax,
		const Vector &	vmax
	)

Definition at line 754 of file ParabolicRamp.cpp.

void ParabolicRampND::TrimBack

(

Real

tcut

)

Definition at line 968 of file ParabolicRamp.cpp.

void ParabolicRampND::TrimFront

(

Real

tcut

)

Definition at line 958 of file ParabolicRamp.cpp.

---

Member Data Documentation

Vector ParabolicRampND::dx0

Definition at line 106 of file ParabolicRamp.h.

Vector ParabolicRampND::dx1

Definition at line 107 of file ParabolicRamp.h.

Real ParabolicRampND::endTime

Calculated upon SolveX.

Definition at line 110 of file ParabolicRamp.h.

std::vector<ParabolicRamp1D> ParabolicRampND::ramps

Definition at line 111 of file ParabolicRamp.h.

Vector ParabolicRampND::x0

Input.

Definition at line 106 of file ParabolicRamp.h.

Vector ParabolicRampND::x1

Definition at line 107 of file ParabolicRamp.h.

---

The documentation for this class was generated from the following files:

• ParabolicRamp.h
• ParabolicRamp.cpp