Solves for optimal trajectores for a velocity-bounded ND system. More...

#include <ParabolicRamp.h>

Public Member Functions
void	Accel (Real t, Vector &ddx) const
void	Bounds (Vector &xmin, Vector &xmax) const
void	Bounds (Real ta, Real tb, Vector &xmin, Vector &xmax) const
void	Derivative (Real t, Vector &dx) const
void	DerivBounds (Vector &vmin, Vector &vmax) const
void	DerivBounds (Real ta, Real tb, Vector &vmin, Vector &vmax) const
void	Dilate (Real timeScale)
void	Evaluate (Real t, Vector &x) const
bool	IsValid () const
void	Output (Real dt, std::vector< Vector > &path) const
void	SetConstant (const Vector &x, Real t=0)
void	SetLinear (const Vector &x0, const Vector &x1, Real t)
void	SolveBraking (const Vector &amax)
bool	SolveMinAccel (const Vector &vmax, Real time)
bool	SolveMinAccelLinear (const Vector &vmax, Real time)
bool	SolveMinTime (const Vector &amax, const Vector &vmax)
bool	SolveMinTimeLinear (const Vector &amax, const Vector &vmax)
void	TrimBack (Real tcut)
void	TrimFront (Real tcut)
Public Attributes
Vector	dx0
Vector	dx1
Real	endTime
	Calculated upon SolveX.
std::vector< ParabolicRamp1D >	ramps
Vector	x0
	Input.
Vector	x1

Detailed Description

Solves for optimal trajectores for a velocity-bounded ND system.

Methods are essentially the same as for ParabolicRamp1D.

Definition at line 106 of file ParabolicRamp.h.

Member Function Documentation

void ParabolicRamp::ParabolicRampND::Accel	(	Real	t,
		Vector &	ddx
	)		const

Definition at line 2108 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Bounds	(	Vector &	xmin,
		Vector &	xmax
	)		const

Definition at line 2182 of file ParabolicRamp.cpp.

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

Definition at line 2191 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Derivative	(	Real	t,
		Vector &	dx
	)		const

Definition at line 2101 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::DerivBounds	(	Vector &	vmin,
		Vector &	vmax
	)		const

Definition at line 2200 of file ParabolicRamp.cpp.

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

Definition at line 2209 of file ParabolicRamp.cpp.

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

Definition at line 2150 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Evaluate	(	Real	t,
		Vector &	x
	)		const

Definition at line 2094 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::IsValid ( ) const

Definition at line 2218 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Output	(	Real	dt,
		std::vector< Vector > &	path
	)		const

Definition at line 2115 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::SetConstant	(	const Vector &	x,
		Real	t = `0`
	)

Definition at line 1725 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::SetLinear	(	const Vector &	x0,
		const Vector &	x1,
		Real	t
	)

Definition at line 1738 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::SolveBraking ( const Vector & amax )

Definition at line 2057 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::SolveMinAccel	(	const Vector &	vmax,
		Real	time
	)

Definition at line 1958 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::SolveMinAccelLinear	(	const Vector &	vmax,
		Real	time
	)

Definition at line 1985 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::SolveMinTime	(	const Vector &	amax,
		const Vector &	vmax
	)

Definition at line 1866 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::SolveMinTimeLinear	(	const Vector &	amax,
		const Vector &	vmax
	)

Definition at line 1754 of file ParabolicRamp.cpp.

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

Definition at line 2168 of file ParabolicRamp.cpp.

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

Definition at line 2156 of file ParabolicRamp.cpp.

Member Data Documentation

Vector ParabolicRamp::ParabolicRampND::dx0

Definition at line 130 of file ParabolicRamp.h.

Vector ParabolicRamp::ParabolicRampND::dx1

Definition at line 131 of file ParabolicRamp.h.

Real ParabolicRamp::ParabolicRampND::endTime

Calculated upon SolveX.

Definition at line 134 of file ParabolicRamp.h.

std::vector<ParabolicRamp1D> ParabolicRamp::ParabolicRampND::ramps

Definition at line 135 of file ParabolicRamp.h.

Vector ParabolicRamp::ParabolicRampND::x0

Input.

Definition at line 130 of file ParabolicRamp.h.

Vector ParabolicRamp::ParabolicRampND::x1

Definition at line 131 of file ParabolicRamp.h.

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

Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation