Program Listing for File velocity_profile_atrap.h
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#pragma once
#include <kdl/velocityprofile.hpp>
#include <iostream>
namespace pilz_industrial_motion_planner
{
class VelocityProfileATrap : public KDL::VelocityProfile
{
public:
VelocityProfileATrap(double max_vel = 0, double max_acc = 0, double max_dec = 0);
void SetProfile(double pos1, double pos2) override;
void SetProfileDuration(double pos1, double pos2, double duration) override;
bool setProfileAllDurations(double pos1, double pos2, double duration1, double duration2, double duration3);
bool setProfileStartVelocity(double pos1, double pos2, double vel1);
double firstPhaseDuration() const
{
return t_a_;
}
double secondPhaseDuration() const
{
return t_b_;
}
double thirdPhaseDuration() const
{
return t_c_;
}
bool operator==(const VelocityProfileATrap& other) const;
double Duration() const override;
double Pos(double time) const override;
double Vel(double time) const override;
double Acc(double time) const override;
void Write(std::ostream& os) const override;
KDL::VelocityProfile* Clone() const override;
friend std::ostream& operator<<(std::ostream& os, const VelocityProfileATrap& p); // LCOV_EXCL_LINE
~VelocityProfileATrap() override;
private:
void setEmptyProfile();
private:
const double max_vel_;
const double max_acc_;
const double max_dec_;
double start_pos_;
double end_pos_;
double start_vel_;
double a1_, a2_, a3_;
double b1_, b2_, b3_;
double c1_, c2_, c3_;
double t_a_;
double t_b_;
double t_c_;
};
std::ostream& operator<<(std::ostream& os,
const VelocityProfileATrap& p); // LCOV_EXCL_LINE
} // namespace pilz_industrial_motion_planner