ParabolicRamp::ParabolicRamp1D Class Reference

Stores optimal trajectores for an acceleration and velocity-bounded 1D system. More...

`#include <ParabolicRamp.h>`

List of all members.

Public Member Functions

Real Accel (Real t) const
Evaluates the second derivative of the trajectory.
void Bounds (Real &xmin, Real &xmax) const
Returns the x bounds on the path.
void Bounds (Real ta, Real tb, Real &xmin, Real &xmax) const
Returns the x bounds for the given time interval.
Real Derivative (Real t) const
Evaluates the derivative of the trajectory.
void DerivBounds (Real &vmin, Real &vmax) const
Returns the v bounds on the path.
void DerivBounds (Real ta, Real tb, Real &vmin, Real &vmax) const
Returns the v bounds for the given time interval.
void Dilate (Real timeScale)
Scales time to slow down (value > 1) or speed up (< 1) the trajectory.
Real EndTime () const
Returns the time at which x1 is reached.
Real Evaluate (Real t) const
Evaluates the trajectory.
bool IsValid () const
Sanity check.
void SetConstant (Real x, Real t=0)
Sets the ramp to a constant function for time t.
void SetLinear (Real x0, Real x1, Real t)
Sets the ramp to a linear function from x0 to x1 with time t.
void SolveBraking (Real amax)
Solves for the minimum-time braking trajectory starting from x0,dx0.
bool SolveMinAccel (Real endTime, Real vmax)
Solves for minimum acceleration given end time and velocity bounds.
Real SolveMinAccel2 (Real endTime, Real vmax)
Same, but if fails, returns the minimum time > endTime.
bool SolveMinTime (Real amax, Real vmax)
Solves for minimum time given acceleration and velocity bounds.
bool SolveMinTime2 (Real amax, Real vmax, Real tLowerBound)
Solves for minimum time given acceleration and velocity bounds, min time.
void TrimBack (Real tcut)
Trims off the front [T-tcut,T] of the trajectory.
void TrimFront (Real tcut)
Trims off the front [0,tcut] of the trajectory.

Public Attributes

Real a1
Real a2
Real dx0
Real dx1
Real tswitch1
Calculated upon SolveX.
Real tswitch2
Real ttotal
Real v
Real x0
Input.
Real x1

Detailed Description

Stores optimal trajectores for an acceleration and velocity-bounded 1D system.

Initialize the members x0 (start position), x1 (end position), dx0 (start velocity), and dx1 (end velocity) before calling the SolveX functions.

Definition at line 50 of file ParabolicRamp.h.

Member Function Documentation

 Real ParabolicRamp::ParabolicRamp1D::Accel ( Real t ) const

Evaluates the second derivative of the trajectory.

Definition at line 1250 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::Bounds ( Real & xmin, Real & xmax ) const

Returns the x bounds on the path.

Definition at line 1593 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::Bounds ( Real ta, Real tb, Real & xmin, Real & xmax ) const

Returns the x bounds for the given time interval.

Definition at line 1598 of file ParabolicRamp.cpp.

 Real ParabolicRamp::ParabolicRamp1D::Derivative ( Real t ) const

Evaluates the derivative of the trajectory.

Definition at line 1240 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::DerivBounds ( Real & vmin, Real & vmax ) const

Returns the v bounds on the path.

Definition at line 1642 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::DerivBounds ( Real ta, Real tb, Real & vmin, Real & vmax ) const

Returns the v bounds for the given time interval.

Definition at line 1647 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::Dilate ( Real timeScale )

Scales time to slow down (value > 1) or speed up (< 1) the trajectory.

Definition at line 1554 of file ParabolicRamp.cpp.

 Real ParabolicRamp::ParabolicRamp1D::EndTime ( ) const` [inline]`

Returns the time at which x1 is reached.

Definition at line 74 of file ParabolicRamp.h.

 Real ParabolicRamp::ParabolicRamp1D::Evaluate ( Real t ) const

Evaluates the trajectory.

Definition at line 1229 of file ParabolicRamp.cpp.

 bool ParabolicRamp::ParabolicRamp1D::IsValid ( ) const

Sanity check.

Definition at line 1684 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::SetConstant ( Real x, Real t = `0` )

Sets the ramp to a constant function for time t.

Definition at line 1209 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::SetLinear ( Real x0, Real x1, Real t )

Sets the ramp to a linear function from x0 to x1 with time t.

Definition at line 1217 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::SolveBraking ( Real amax )

Solves for the minimum-time braking trajectory starting from x0,dx0.

Definition at line 1540 of file ParabolicRamp.cpp.

 bool ParabolicRamp::ParabolicRamp1D::SolveMinAccel ( Real endTime, Real vmax )

Solves for minimum acceleration given end time and velocity bounds.

Definition at line 1257 of file ParabolicRamp.cpp.

 Real ParabolicRamp::ParabolicRamp1D::SolveMinAccel2 ( Real endTime, Real vmax )

Same, but if fails, returns the minimum time > endTime.

 bool ParabolicRamp::ParabolicRamp1D::SolveMinTime ( Real amax, Real vmax )

Solves for minimum time given acceleration and velocity bounds.

Definition at line 1360 of file ParabolicRamp.cpp.

 bool ParabolicRamp::ParabolicRamp1D::SolveMinTime2 ( Real amax, Real vmax, Real tLowerBound )

Solves for minimum time given acceleration and velocity bounds, min time.

Definition at line 1446 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::TrimBack ( Real tcut )

Trims off the front [T-tcut,T] of the trajectory.

Definition at line 1582 of file ParabolicRamp.cpp.

 void ParabolicRamp::ParabolicRamp1D::TrimFront ( Real tcut )

Trims off the front [0,tcut] of the trajectory.

Definition at line 1564 of file ParabolicRamp.cpp.

Member Data Documentation

Definition at line 99 of file ParabolicRamp.h.

Definition at line 99 of file ParabolicRamp.h.

Definition at line 93 of file ParabolicRamp.h.

Definition at line 94 of file ParabolicRamp.h.

Calculated upon SolveX.

Definition at line 97 of file ParabolicRamp.h.

Definition at line 97 of file ParabolicRamp.h.

Definition at line 98 of file ParabolicRamp.h.

Definition at line 99 of file ParabolicRamp.h.

Input.

Definition at line 93 of file ParabolicRamp.h.

Definition at line 94 of file ParabolicRamp.h.

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

constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:27