KDL::VelocityProfile Class Reference
[Motion]

#include <velocityprofile.hpp>

Inheritance diagram for KDL::VelocityProfile:

[legend]

List of all members.

Public Member Functions
virtual double	Acc (double time) const =0
virtual VelocityProfile *	Clone () const =0
virtual double	Duration () const =0
virtual double	Pos (double time) const =0
virtual void	SetProfile (double pos1, double pos2)=0
virtual void	SetProfileDuration (double pos1, double pos2, double duration)=0
virtual double	Vel (double time) const =0
virtual void	Write (std::ostream &os) const =0
virtual	~VelocityProfile ()
Static Public Member Functions
static VelocityProfile *	Read (std::istream &is)

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Detailed Description

A VelocityProfile stores the velocity profile that is used within a trajectory. A velocity profile is the function that expresses position, velocity and acceleration of a point on a curve in function of time. It defines the how a point s moves on a path S.

Definition at line 62 of file velocityprofile.hpp.

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Constructor & Destructor Documentation

virtual KDL::VelocityProfile::~VelocityProfile

(

)

[inline, virtual]

Definition at line 102 of file velocityprofile.hpp.

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Member Function Documentation

virtual double KDL::VelocityProfile::Acc

(

double

time

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual VelocityProfile* KDL::VelocityProfile::Clone

(

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual double KDL::VelocityProfile::Duration

(

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual double KDL::VelocityProfile::Pos

(

double

time

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

static VelocityProfile* KDL::VelocityProfile::Read

(

std::istream &

is

)

[static]

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

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual void KDL::VelocityProfile::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	duration
	)			[pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual double KDL::VelocityProfile::Vel

(

double

time

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

virtual void KDL::VelocityProfile::Write

(

std::ostream &

os

)

const [pure virtual]

Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.

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

• velocityprofile.hpp