KDL::VelocityProfile_Dirac Class Reference

#include <velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:

List of all members.

Public Member Functions
virtual double	Acc (double time) const
virtual VelocityProfile *	Clone () const
virtual double	Duration () const
virtual double	Pos (double time) const
void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double duration)
virtual double	Vel (double time) const
virtual void	Write (std::ostream &os) const
virtual	~VelocityProfile_Dirac ()
Private Attributes
double	p1
double	p2
double	t

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Detailed Description

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.

However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;

Definition at line 48 of file velocityprofile_dirac.hpp.

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Constructor & Destructor Documentation

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac

(

)

[inline, virtual]

Definition at line 65 of file velocityprofile_dirac.hpp.

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Member Function Documentation

double KDL::VelocityProfile_Dirac::Acc

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 73 of file velocityprofile_dirac.cpp.

virtual VelocityProfile* KDL::VelocityProfile_Dirac::Clone

(

)

const [inline, virtual]

Implements KDL::VelocityProfile.

Definition at line 59 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::Duration

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_dirac.cpp.

double KDL::VelocityProfile_Dirac::Pos

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 55 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::SetProfile	(	double	pos1,
		double	pos2
	)		[virtual]

Implements KDL::VelocityProfile.

Definition at line 34 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	duration
	)		[virtual]

Implements KDL::VelocityProfile.

Definition at line 45 of file velocityprofile_dirac.cpp.

double KDL::VelocityProfile_Dirac::Vel

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 62 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::Write

(

std::ostream &

os

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 79 of file velocityprofile_dirac.cpp.

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Member Data Documentation

double KDL::VelocityProfile_Dirac::p1 [private]

Definition at line 50 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::p2 [private]

Definition at line 50 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::t [private]

Definition at line 50 of file velocityprofile_dirac.hpp.

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

• velocityprofile_dirac.hpp
• velocityprofile_dirac.cpp