00001 #ifndef VELOCITYPROFILE_SPLINE_H
00002 #define VELOCITYPROFILE_SPLINE_H
00003
00004 #include "velocityprofile.hpp"
00005
00006 namespace KDL
00007 {
00012 class VelocityProfile_Spline : public VelocityProfile
00013 {
00014 public:
00015 VelocityProfile_Spline();
00016 VelocityProfile_Spline(const VelocityProfile_Spline &p);
00017
00018 virtual ~VelocityProfile_Spline();
00019
00020 virtual void SetProfile(double pos1, double pos2);
00028 virtual void SetProfileDuration(
00029 double pos1, double pos2, double duration);
00030
00040 virtual void SetProfileDuration(
00041 double pos1, double vel1, double pos2, double vel2, double duration);
00042
00054 virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration);
00055 virtual double Duration() const;
00056 virtual double Pos(double time) const;
00057 virtual double Vel(double time) const;
00058 virtual double Acc(double time) const;
00059 virtual void Write(std::ostream& os) const;
00060 virtual VelocityProfile* Clone() const;
00061 private:
00062
00063 double coeff_[6];
00064 double duration_;
00065 };
00066 }
00067 #endif // VELOCITYPROFILE_CUBICSPLINE_H
