KDL::VelocityProfile_Trap Class Reference

#include <velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:

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
virtual void	SetMax (double _maxvel, double _maxacc)
virtual void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double newduration)
virtual void	SetProfileVelocity (double pos1, double pos2, double newvelocity)
virtual double	Vel (double time) const
	VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)
virtual void	Write (std::ostream &os) const
virtual	~VelocityProfile_Trap ()
Private Attributes
double	a1
double	a2
double	a3
double	b1
double	b2
double	b3
double	c1
double	c2
double	c3
double	duration
double	endpos
double	maxacc
double	maxvel
double	startpos
double	t1
double	t2

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Detailed Description

A Trapezoidal VelocityProfile implementation.

Definition at line 60 of file velocityprofile_trap.hpp.

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Constructor & Destructor Documentation

KDL::VelocityProfile_Trap::VelocityProfile_Trap	(	double	_maxvel = 0,
		double	_maxacc = 0
	)

Definition at line 49 of file velocityprofile_trap.cpp.

KDL::VelocityProfile_Trap::~VelocityProfile_Trap

(

)

[virtual]

Definition at line 186 of file velocityprofile_trap.cpp.

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Member Function Documentation

double KDL::VelocityProfile_Trap::Acc

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 166 of file velocityprofile_trap.cpp.

VelocityProfile * KDL::VelocityProfile_Trap::Clone

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 180 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Duration

(

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 135 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Pos

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 139 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetMax	(	double	_maxvel,
		double	_maxacc
	)		[virtual]

Definition at line 130 of file velocityprofile_trap.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 61 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	newduration
	)		[virtual]

Implements KDL::VelocityProfile.

Definition at line 91 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileVelocity	(	double	pos1,
		double	pos2,
		double	newvelocity
	)		[virtual]

Compute trapezoidal profile at a given fraction of max velocity

Parameters:

pos1	Position to start from
pos2	Position to end at
newvelocity	Fraction of max velocity to use during the non-ramp, flat-velocity part of the profile.
KDL::epsilon	<= newvelocity <= 1.0 (forcibly clamped to this range internally)

Definition at line 111 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Vel

(

double

time

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 152 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::Write

(

std::ostream &

os

)

const [virtual]

Implements KDL::VelocityProfile.

Definition at line 189 of file velocityprofile_trap.cpp.

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Member Data Documentation

double KDL::VelocityProfile_Trap::a1 [private]

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a2 [private]

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a3 [private]

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b1 [private]

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b2 [private]

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b3 [private]

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c1 [private]

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c2 [private]

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c3 [private]

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::duration [private]

Definition at line 66 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::endpos [private]

Definition at line 73 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxacc [private]

Definition at line 71 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxvel [private]

Definition at line 70 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::startpos [private]

Definition at line 72 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t1 [private]

Definition at line 67 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t2 [private]

Definition at line 67 of file velocityprofile_trap.hpp.

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

• velocityprofile_trap.hpp
• velocityprofile_trap.cpp