KDL::VelocityProfile_Rectangular Class Reference
[Motion]

#include <velocityprofile_rect.hpp>

Inheritance diagram for KDL::VelocityProfile_Rectangular:

[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)
void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double duration)
virtual double	Vel (double time) const
	VelocityProfile_Rectangular (double _maxvel=0)
virtual void	Write (std::ostream &os) const
virtual	~VelocityProfile_Rectangular ()
Public Attributes
double	maxvel
Private Attributes
double	d
double	p
double	v

---

Detailed Description

A rectangular VelocityProfile generates a constant velocity for moving from A to B.

Definition at line 56 of file velocityprofile_rect.hpp.

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Constructor & Destructor Documentation

KDL::VelocityProfile_Rectangular::VelocityProfile_Rectangular

(

double

_maxvel = 0

)

[inline]

Definition at line 64 of file velocityprofile_rect.hpp.

virtual KDL::VelocityProfile_Rectangular::~VelocityProfile_Rectangular

(

)

[inline, virtual]

Definition at line 84 of file velocityprofile_rect.hpp.

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Member Function Documentation

double KDL::VelocityProfile_Rectangular::Acc

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 121 of file velocityprofile_rect.cpp.

virtual VelocityProfile* KDL::VelocityProfile_Rectangular::Clone

(

)

const [inline, virtual]

Implements KDL::VelocityProfile.

Definition at line 78 of file velocityprofile_rect.hpp.

double KDL::VelocityProfile_Rectangular::Duration

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 97 of file velocityprofile_rect.cpp.

double KDL::VelocityProfile_Rectangular::Pos

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 101 of file velocityprofile_rect.cpp.

void KDL::VelocityProfile_Rectangular::SetMax

(

double

_maxvel

)

Definition at line 70 of file velocityprofile_rect.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 49 of file velocityprofile_rect.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 77 of file velocityprofile_rect.cpp.

double KDL::VelocityProfile_Rectangular::Vel

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 111 of file velocityprofile_rect.cpp.

void KDL::VelocityProfile_Rectangular::Write

(

std::ostream &

os

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 127 of file velocityprofile_rect.cpp.

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Member Data Documentation

double KDL::VelocityProfile_Rectangular::d [private]

Definition at line 60 of file velocityprofile_rect.hpp.

double KDL::VelocityProfile_Rectangular::maxvel

Definition at line 62 of file velocityprofile_rect.hpp.

double KDL::VelocityProfile_Rectangular::p [private]

Definition at line 60 of file velocityprofile_rect.hpp.

double KDL::VelocityProfile_Rectangular::v [private]

Definition at line 60 of file velocityprofile_rect.hpp.

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

• velocityprofile_rect.hpp
• velocityprofile_rect.cpp