velocityprofile_trap.hpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_trap.h 00003 00004 velocityprofile_trap.h - description 00005 ------------------- 00006 begin : Mon January 10 2005 00007 copyright : (C) 2005 Erwin Aertbelien 00008 email : erwin.aertbelien@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 00029 /***************************************************************************** 00030 * \author 00031 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00032 * 00033 * \version 00034 * ORO_Geometry V0.2 00035 * 00036 * \par History 00037 * - $log$ 00038 * 00039 * \par Release 00040 * $Id: velocityprofile_trap.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $ 00041 * $Name: $ 00042 ****************************************************************************/ 00043 00044 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAP_H 00045 #define KDL_MOTION_VELOCITYPROFILE_TRAP_H 00046 00047 #include "velocityprofile.hpp" 00048 00049 00050 00051 00052 namespace KDL { 00053 00054 00055 00060 class VelocityProfile_Trap : public VelocityProfile 00061 { 00062 // For "running" a motion profile : 00063 double a1,a2,a3; // coef. from ^0 -> ^2 of first part 00064 double b1,b2,b3; // of 2nd part 00065 double c1,c2,c3; // of 3th part 00066 double duration; 00067 double t1,t2; 00068 00069 // specification of the motion profile : 00070 double maxvel; 00071 double maxacc; 00072 double startpos; 00073 double endpos; 00074 public: 00075 00076 VelocityProfile_Trap(double _maxvel=0,double _maxacc=0); 00077 // constructs motion profile class with <maxvel> and <maxacc> as parameters of the 00078 // trajectory. 00079 00080 virtual void SetProfile(double pos1,double pos2); 00081 00082 virtual void SetProfileDuration( 00083 double pos1,double pos2,double newduration 00084 ); 00085 00086 virtual void SetMax(double _maxvel,double _maxacc); 00087 virtual double Duration() const; 00088 virtual double Pos(double time) const; 00089 virtual double Vel(double time) const; 00090 virtual double Acc(double time) const; 00091 virtual void Write(std::ostream& os) const; 00092 virtual VelocityProfile* Clone() const; 00093 // returns copy of current VelocityProfile object. (virtual constructor) 00094 virtual ~VelocityProfile_Trap(); 00095 }; 00096 00097 00098 00099 00100 00101 00102 /* Niet OK 00103 class VelocityProfile_Trap : public VelocityProfile { 00104 double maxvel; 00105 double maxacc; 00106 double _t1,_t2,_T,c1,c2,c3,c4,c5,c6,c7,c8,c9,c10; 00107 00108 void PrepTraj(double p1,double v1,double p2,double v2, 00109 double acc,double vel,double t1,double t2,double T); 00110 // Internal method. Sets the parameters <_t1>,..<c10> with the given 00111 // arguments. 00112 public: 00113 VelocityProfile_Trap(double _maxvel,double _maxacc): 00114 maxvel(_maxvel),maxacc(_maxacc) {} 00115 // constructs motion profile class with max velocity <maxvel>, 00116 // and max acceleration <maxacc> as parameter of the 00117 // trajectory. 00118 00119 void SetProfile(double pos1,double pos2); 00120 virtual void SetProfileDuration(double pos1,double pos2,double duration); 00121 virtual double Duration() ; 00122 virtual double Pos(double time); 00123 virtual double Vel(double time); 00124 }; 00125 */ 00126 00127 } 00128 00129 00130 #endif