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ParabolicRamp1D Class Reference

Stores optimal trajectores for an acceleration and velocity-bounded 1D system. More...

#include <ParabolicRamp.h>

List of all members.

Public Member Functions

Real Accel (Real t) const
 Evaluates the second derivative of the trajectory.
Real Derivative (Real t) const
 Evaluates the derivative of the trajectory.
void Dilate (Real timeScale)
 Scales time to slow down (value > 1) or speed up (< 1) the trajectory.
Real EndTime () const
 Returns the time at which x1 is reached.
Real Evaluate (Real t) const
 Evaluates the trajectory.
bool IsValid () const
 Sanity check.
void SetConstant (Real x)
 Sets the ramp to a constant function.
bool SolveMinAccel (Real endTime, Real vmax)
 Solves for minimum acceleration given end time and velocity bounds.
bool SolveMinTime (Real amax, Real vmax)
 Solves for minimum time given acceleration and velocity bounds.
void TrimBack (Real tcut)
 Trims off the front [T-tcut,T] of the trajectory.
void TrimFront (Real tcut)
 Trims off the front [0,tcut] of the trajectory.

Public Attributes

Real a1
Real a2
Real dx0
Real dx1
Real tswitch1
 Calculated upon SolveX.
Real tswitch2
Real ttotal
Real v
Real x0
 Input.
Real x1

Detailed Description

Stores optimal trajectores for an acceleration and velocity-bounded 1D system.

Initialize the members x0 (start position), x1 (end position), dx0 (start velocity), and dx1 (end velocity) before calling the SolveX functions.

Definition at line 50 of file ParabolicRamp.h.


Member Function Documentation

Real ParabolicRamp1D::Accel ( Real  t  )  const

Evaluates the second derivative of the trajectory.

Definition at line 549 of file ParabolicRamp.cpp.

Real ParabolicRamp1D::Derivative ( Real  t  )  const

Evaluates the derivative of the trajectory.

Definition at line 539 of file ParabolicRamp.cpp.

void ParabolicRamp1D::Dilate ( Real  timeScale  ) 

Scales time to slow down (value > 1) or speed up (< 1) the trajectory.

Definition at line 676 of file ParabolicRamp.cpp.

Real ParabolicRamp1D::EndTime (  )  const [inline]

Returns the time at which x1 is reached.

Definition at line 66 of file ParabolicRamp.h.

Real ParabolicRamp1D::Evaluate ( Real  t  )  const

Evaluates the trajectory.

Definition at line 528 of file ParabolicRamp.cpp.

bool ParabolicRamp1D::IsValid (  )  const

Sanity check.

Definition at line 709 of file ParabolicRamp.cpp.

void ParabolicRamp1D::SetConstant ( Real  x  ) 

Sets the ramp to a constant function.

Definition at line 520 of file ParabolicRamp.cpp.

bool ParabolicRamp1D::SolveMinAccel ( Real  endTime,
Real  vmax 
)

Solves for minimum acceleration given end time and velocity bounds.

Definition at line 556 of file ParabolicRamp.cpp.

bool ParabolicRamp1D::SolveMinTime ( Real  amax,
Real  vmax 
)

Solves for minimum time given acceleration and velocity bounds.

Definition at line 615 of file ParabolicRamp.cpp.

void ParabolicRamp1D::TrimBack ( Real  tcut  ) 

Trims off the front [T-tcut,T] of the trajectory.

Definition at line 699 of file ParabolicRamp.cpp.

void ParabolicRamp1D::TrimFront ( Real  tcut  ) 

Trims off the front [0,tcut] of the trajectory.

Definition at line 686 of file ParabolicRamp.cpp.


Member Data Documentation

Definition at line 83 of file ParabolicRamp.h.

Definition at line 83 of file ParabolicRamp.h.

Definition at line 77 of file ParabolicRamp.h.

Definition at line 78 of file ParabolicRamp.h.

Calculated upon SolveX.

Definition at line 81 of file ParabolicRamp.h.

Definition at line 81 of file ParabolicRamp.h.

Definition at line 82 of file ParabolicRamp.h.

Definition at line 83 of file ParabolicRamp.h.

Input.

Definition at line 77 of file ParabolicRamp.h.

Definition at line 78 of file ParabolicRamp.h.


The documentation for this class was generated from the following files:
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constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:19:29 2013