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#include <velocityprofile_traphalf.hpp>
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, double _maxacc, bool _starting) |
virtual void | SetProfile (double pos1, double pos2) |
virtual void | SetProfileDuration (double pos1, double pos2, double newduration) |
virtual double | Vel (double time) const |
VelocityProfile_TrapHalf (double _maxvel=0, double _maxacc=0, bool _starting=true) | |
virtual void | Write (std::ostream &os) const |
virtual | ~VelocityProfile_TrapHalf () |
Private Member Functions | |
void | PlanProfile1 (double v, double a) |
void | PlanProfile2 (double v, double a) |
Private Attributes | |
double | a1 |
double | a2 |
double | a3 |
double | b1 |
double | b2 |
double | b3 |
double | c1 |
double | c2 |
double | c3 |
double | duration |
double | endpos |
double | maxacc |
double | maxvel |
bool | starting |
double | startpos |
double | t1 |
double | t2 |
A 'Half' Trapezoidal VelocityProfile. A contructor flag indicates if the calculated profile should be starting or ending.
Definition at line 63 of file velocityprofile_traphalf.hpp.
KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf | ( | double | _maxvel = 0 , |
|
double | _maxacc = 0 , |
|||
bool | _starting = true | |||
) |
maxvel | maximal velocity of the motion profile (positive) | |
maxacc | maximal acceleration of the motion profile (positive) | |
starting | this value is true when initial velocity is zero and ending velocity is maxvel, is false for the reverse |
Definition at line 49 of file velocityprofile_traphalf.cpp.
KDL::VelocityProfile_TrapHalf::~VelocityProfile_TrapHalf | ( | ) | [virtual] |
Definition at line 188 of file velocityprofile_traphalf.cpp.
double KDL::VelocityProfile_TrapHalf::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 168 of file velocityprofile_traphalf.cpp.
VelocityProfile * KDL::VelocityProfile_TrapHalf::Clone | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 182 of file velocityprofile_traphalf.cpp.
double KDL::VelocityProfile_TrapHalf::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 137 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::PlanProfile1 | ( | double | v, | |
double | a | |||
) | [private] |
Definition at line 57 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::PlanProfile2 | ( | double | v, | |
double | a | |||
) | [private] |
Definition at line 69 of file velocityprofile_traphalf.cpp.
double KDL::VelocityProfile_TrapHalf::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 141 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::SetMax | ( | double | _maxvel, | |
double | _maxacc, | |||
bool | _starting | |||
) |
Definition at line 52 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::SetProfile | ( | double | pos1, | |
double | pos2 | |||
) | [virtual] |
Can throw a Error_MotionPlanning_Not_Feasible
Implements KDL::VelocityProfile.
Definition at line 81 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::SetProfileDuration | ( | double | pos1, | |
double | pos2, | |||
double | newduration | |||
) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 97 of file velocityprofile_traphalf.cpp.
double KDL::VelocityProfile_TrapHalf::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 154 of file velocityprofile_traphalf.cpp.
void KDL::VelocityProfile_TrapHalf::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 191 of file velocityprofile_traphalf.cpp.
double KDL::VelocityProfile_TrapHalf::a1 [private] |
Definition at line 66 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::a2 [private] |
Definition at line 66 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::a3 [private] |
Definition at line 66 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::b1 [private] |
Definition at line 67 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::b2 [private] |
Definition at line 67 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::b3 [private] |
Definition at line 67 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::c1 [private] |
Definition at line 68 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::c2 [private] |
Definition at line 68 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::c3 [private] |
Definition at line 68 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::duration [private] |
Definition at line 69 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::endpos [private] |
Definition at line 73 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::maxacc [private] |
Definition at line 77 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::maxvel [private] |
Definition at line 76 of file velocityprofile_traphalf.hpp.
bool KDL::VelocityProfile_TrapHalf::starting [private] |
Definition at line 78 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::startpos [private] |
Definition at line 72 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::t1 [private] |
Definition at line 70 of file velocityprofile_traphalf.hpp.
double KDL::VelocityProfile_TrapHalf::t2 [private] |
Definition at line 70 of file velocityprofile_traphalf.hpp.