00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_traphalf.h 00003 00004 velocityprofile_traphalf.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_traphalf.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $ 00041 * $Name: $ 00042 * \par Status 00043 * Experimental 00044 ****************************************************************************/ 00045 00046 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 00047 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 00048 00049 #include "velocityprofile.hpp" 00050 00051 00052 00053 00054 namespace KDL { 00055 00056 00063 class VelocityProfile_TrapHalf : public VelocityProfile 00064 { 00065 // For "running" a motion profile : 00066 double a1,a2,a3; // coef. from ^0 -> ^2 of first part 00067 double b1,b2,b3; // of 2nd part 00068 double c1,c2,c3; // of 3th part 00069 double duration; 00070 double t1,t2; 00071 00072 double startpos; 00073 double endpos; 00074 00075 // Persistent state : 00076 double maxvel; 00077 double maxacc; 00078 bool starting; 00079 00080 void PlanProfile1(double v,double a); 00081 void PlanProfile2(double v,double a); 00082 public: 00083 00090 VelocityProfile_TrapHalf(double _maxvel=0,double _maxacc=0,bool _starting=true); 00091 00092 void SetMax(double _maxvel,double _maxacc, bool _starting ); 00093 00097 virtual void SetProfile(double pos1,double pos2); 00098 00110 virtual void SetProfileDuration( 00111 double pos1,double pos2,double newduration 00112 ); 00113 00114 virtual double Duration() const; 00115 virtual double Pos(double time) const; 00116 virtual double Vel(double time) const; 00117 virtual double Acc(double time) const; 00118 virtual void Write(std::ostream& os) const; 00119 virtual VelocityProfile* Clone() const; 00120 00121 virtual ~VelocityProfile_TrapHalf(); 00122 }; 00123 00124 00125 00126 } 00127 00128 00129 #endif