constraint_aware_spline_smoother: ParabolicRamp.h Source File

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00031 
00032 #ifndef PARABOLIC_RAMP_H
00033 #define PARABOLIC_RAMP_H
00034 
00035 #include <math.h>
00036 #include <assert.h>
00037 #include "constraint_aware_spline_smoother/Math.h"
00038 
00050 class ParabolicRamp1D
00051 {
00052  public:
00054   void SetConstant(Real x);
00056   bool SolveMinTime(Real amax,Real vmax);
00058   bool SolveMinAccel(Real endTime,Real vmax);
00060   Real Evaluate(Real t) const;
00062   Real Derivative(Real t) const;
00064   Real Accel(Real t) const;
00066   Real EndTime() const { return ttotal; }
00068   void Dilate(Real timeScale);
00070   void TrimFront(Real tcut);
00072   void TrimBack(Real tcut);
00074   bool IsValid() const;
00075 
00077   Real x0,dx0;
00078   Real x1,dx1;
00079 
00081   Real tswitch1,tswitch2;  //time to switch between ramp/flat/ramp
00082   Real ttotal;
00083   Real a1,v,a2;   // accel of first ramp, velocity of linear section, accel of second ramp
00084 };
00085 
00090 class ParabolicRampND
00091 {
00092  public:
00093   void SetConstant(const Vector& x);
00094   bool SolveMinTimeLinear(const Vector& amax,const Vector& vmax);
00095   bool SolveMinTime(const Vector& amax,const Vector& vmax);
00096   bool SolveMinAccel(const Vector& vmax,Real time);
00097   void Evaluate(Real t,Vector& x) const;
00098   void Derivative(Real t,Vector& x) const;
00099   void Output(Real dt,std::vector<Vector>& path) const;
00100   void Dilate(Real timeScale);
00101   void TrimFront(Real tcut);
00102   void TrimBack(Real tcut);
00103   bool IsValid() const;
00104 
00106   Vector x0,dx0;
00107   Vector x1,dx1;
00108 
00110   Real endTime;
00111   std::vector<ParabolicRamp1D> ramps;
00112 };
00113 
00114 #endif