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

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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.

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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.

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Member Data Documentation

Real ParabolicRamp1D::a1

Definition at line 83 of file ParabolicRamp.h.

Real ParabolicRamp1D::a2

Definition at line 83 of file ParabolicRamp.h.

Real ParabolicRamp1D::dx0

Definition at line 77 of file ParabolicRamp.h.

Real ParabolicRamp1D::dx1

Definition at line 78 of file ParabolicRamp.h.

Real ParabolicRamp1D::tswitch1

Calculated upon SolveX.

Definition at line 81 of file ParabolicRamp.h.

Real ParabolicRamp1D::tswitch2

Definition at line 81 of file ParabolicRamp.h.

Real ParabolicRamp1D::ttotal

Definition at line 82 of file ParabolicRamp.h.

Real ParabolicRamp1D::v

Definition at line 83 of file ParabolicRamp.h.

Real ParabolicRamp1D::x0

Input.

Definition at line 77 of file ParabolicRamp.h.

Real ParabolicRamp1D::x1

Definition at line 78 of file ParabolicRamp.h.

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

• ParabolicRamp.h
• ParabolicRamp.cpp