KDL::VelocityProfile_TrapHalf Class Reference
[Motion]

#include <velocityprofile_traphalf.hpp>

Inheritance diagram for KDL::VelocityProfile_TrapHalf:

[legend]

List of all members.

Public Member Functions
virtual double	Acc (double time) const
virtual VelocityProfile *	Clone () const
virtual double	Duration () const
virtual double	Pos (double time) const
void	SetMax (double _maxvel, double _maxacc, bool _starting)
virtual void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double newduration)
virtual double	Vel (double time) const
	VelocityProfile_TrapHalf (double _maxvel=0, double _maxacc=0, bool _starting=true)
virtual void	Write (std::ostream &os) const
virtual	~VelocityProfile_TrapHalf ()
Private Member Functions
void	PlanProfile1 (double v, double a)
void	PlanProfile2 (double v, double a)
Private Attributes
double	a1
double	a2
double	a3
double	b1
double	b2
double	b3
double	c1
double	c2
double	c3
double	duration
double	endpos
double	maxacc
double	maxvel
bool	starting
double	startpos
double	t1
double	t2

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Detailed Description

A 'Half' Trapezoidal VelocityProfile. A contructor flag indicates if the calculated profile should be starting or ending.

Definition at line 63 of file velocityprofile_traphalf.hpp.

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Constructor & Destructor Documentation

KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf	(	double	_maxvel = 0,
		double	_maxacc = 0,
		bool	_starting = true
	)

Parameters:

	maxvel	maximal velocity of the motion profile (positive)
	maxacc	maximal acceleration of the motion profile (positive)
	starting	this value is true when initial velocity is zero and ending velocity is maxvel, is false for the reverse

Definition at line 49 of file velocityprofile_traphalf.cpp.

KDL::VelocityProfile_TrapHalf::~VelocityProfile_TrapHalf

(

)

[virtual]

Definition at line 188 of file velocityprofile_traphalf.cpp.

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Member Function Documentation

double KDL::VelocityProfile_TrapHalf::Acc

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 168 of file velocityprofile_traphalf.cpp.

VelocityProfile * KDL::VelocityProfile_TrapHalf::Clone

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 182 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Duration

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 137 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile1	(	double	v,
		double	a
	)			[private]

Definition at line 57 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile2	(	double	v,
		double	a
	)			[private]

Definition at line 69 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Pos

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 141 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetMax	(	double	_maxvel,
		double	_maxacc,
		bool	_starting
	)

Definition at line 52 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfile	(	double	pos1,
		double	pos2
	)			[virtual]

Can throw a Error_MotionPlanning_Not_Feasible

Implements KDL::VelocityProfile.

Definition at line 81 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	newduration
	)			[virtual]

Implements KDL::VelocityProfile.

Definition at line 97 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Vel

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 154 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::Write

(

std::ostream &

os

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 191 of file velocityprofile_traphalf.cpp.

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Member Data Documentation

double KDL::VelocityProfile_TrapHalf::a1 [private]

Definition at line 66 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::a2 [private]

Definition at line 66 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::a3 [private]

Definition at line 66 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::b1 [private]

Definition at line 67 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::b2 [private]

Definition at line 67 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::b3 [private]

Definition at line 67 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::c1 [private]

Definition at line 68 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::c2 [private]

Definition at line 68 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::c3 [private]

Definition at line 68 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::duration [private]

Definition at line 69 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::endpos [private]

Definition at line 73 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::maxacc [private]

Definition at line 77 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::maxvel [private]

Definition at line 76 of file velocityprofile_traphalf.hpp.

bool KDL::VelocityProfile_TrapHalf::starting [private]

Definition at line 78 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::startpos [private]

Definition at line 72 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::t1 [private]

Definition at line 70 of file velocityprofile_traphalf.hpp.

double KDL::VelocityProfile_TrapHalf::t2 [private]

Definition at line 70 of file velocityprofile_traphalf.hpp.

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

• velocityprofile_traphalf.hpp
• velocityprofile_traphalf.cpp