A spline VelocityProfile trajectory interpolation. More...
#include <velocityprofile_spline.hpp>
Public Member Functions | |
| virtual double | Acc (double time) const |
| virtual VelocityProfile * | Clone () const |
| virtual double | Duration () const |
| virtual double | Pos (double time) const |
| virtual void | SetProfile (double pos1, double pos2) |
| virtual void | SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration) |
| virtual void | SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration) |
| virtual void | SetProfileDuration (double pos1, double pos2, double duration) |
| virtual double | Vel (double time) const |
| VelocityProfile_Spline (const VelocityProfile_Spline &p) | |
| VelocityProfile_Spline () | |
| virtual void | Write (std::ostream &os) const |
| virtual | ~VelocityProfile_Spline () |
Private Attributes | |
| double | coeff_ [6] |
| double | duration_ |
A spline VelocityProfile trajectory interpolation.
Definition at line 12 of file velocityprofile_spline.hpp.
| KDL::VelocityProfile_Spline::VelocityProfile_Spline | ( | ) |
Definition at line 17 of file velocityprofile_spline.cpp.
| KDL::VelocityProfile_Spline::VelocityProfile_Spline | ( | const VelocityProfile_Spline & | p | ) |
Definition at line 31 of file velocityprofile_spline.cpp.
| KDL::VelocityProfile_Spline::~VelocityProfile_Spline | ( | ) | [virtual] |
Definition at line 45 of file velocityprofile_spline.cpp.
| double KDL::VelocityProfile_Spline::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 169 of file velocityprofile_spline.cpp.
| VelocityProfile * KDL::VelocityProfile_Spline::Clone | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 188 of file velocityprofile_spline.cpp.
| double KDL::VelocityProfile_Spline::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 135 of file velocityprofile_spline.cpp.
| double KDL::VelocityProfile_Spline::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 140 of file velocityprofile_spline.cpp.
| void KDL::VelocityProfile_Spline::SetProfile | ( | double | pos1, | |
| double | pos2 | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 50 of file velocityprofile_spline.cpp.
| void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, | |
| double | vel1, | |||
| double | acc1, | |||
| double | pos2, | |||
| double | vel2, | |||
| double | acc2, | |||
| double | duration | |||
| ) | [virtual] |
Generate quintic spline interpolation coeffcients.
| pos1 | begin position. | |
| vel1 | begin velocity. | |
| acc1 | begin acceleration | |
| pos2 | end position. | |
| vel2 | end velocity. | |
| acc2 | end acceleration. | |
| duration | duration of the profile. |
Definition at line 106 of file velocityprofile_spline.cpp.
| void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, | |
| double | vel1, | |||
| double | pos2, | |||
| double | vel2, | |||
| double | duration | |||
| ) | [virtual] |
Generate cubic spline interpolation coeffcients.
| pos1 | begin position. | |
| vel1 | begin velocity. | |
| pos2 | end position. | |
| vel2 | end velocity. | |
| duration | duration of the profile. |
Definition at line 79 of file velocityprofile_spline.cpp.
| void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, | |
| double | pos2, | |||
| double | duration | |||
| ) | [virtual] |
Generate linear interpolation coeffcients.
| pos1 | begin position. | |
| pos2 | end position. | |
| duration | duration of the profile. |
Implements KDL::VelocityProfile.
Definition at line 55 of file velocityprofile_spline.cpp.
| double KDL::VelocityProfile_Spline::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 155 of file velocityprofile_spline.cpp.
| void KDL::VelocityProfile_Spline::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 182 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::coeff_[6] [private] |
Definition at line 63 of file velocityprofile_spline.hpp.
double KDL::VelocityProfile_Spline::duration_ [private] |
Definition at line 64 of file velocityprofile_spline.hpp.
