A spline VelocityProfile trajectory interpolation. More...
#include <velocityprofile_spline.hpp>
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 | SetProfile (double pos1, double pos2) |
virtual void | SetProfileDuration (double pos1, double pos2, double duration) |
virtual void | SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration) |
virtual void | SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration) |
virtual double | Vel (double time) const |
VelocityProfile_Spline () | |
VelocityProfile_Spline (const VelocityProfile_Spline &p) | |
virtual void | Write (std::ostream &os) const |
virtual | ~VelocityProfile_Spline () |
Private Attributes | |
double | coeff_ [6] |
double | duration_ |
A spline VelocityProfile trajectory interpolation.
Definition at line 12 of file velocityprofile_spline.hpp.
Definition at line 18 of file velocityprofile_spline.cpp.
Definition at line 32 of file velocityprofile_spline.cpp.
KDL::VelocityProfile_Spline::~VelocityProfile_Spline | ( | ) | [virtual] |
Definition at line 46 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 171 of file velocityprofile_spline.cpp.
VelocityProfile * KDL::VelocityProfile_Spline::Clone | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 190 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 137 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 142 of file velocityprofile_spline.cpp.
void KDL::VelocityProfile_Spline::SetProfile | ( | double | pos1, |
double | pos2 | ||
) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 51 of file velocityprofile_spline.cpp.
void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, |
double | pos2, | ||
double | duration | ||
) | [virtual] |
Generate linear interpolation coeffcients.
pos1 | begin position. |
pos2 | end position. |
duration | duration of the profile. |
Implements KDL::VelocityProfile.
Definition at line 56 of file velocityprofile_spline.cpp.
void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, |
double | vel1, | ||
double | pos2, | ||
double | vel2, | ||
double | duration | ||
) | [virtual] |
Generate cubic spline interpolation coeffcients.
pos1 | begin position. |
vel1 | begin velocity. |
pos2 | end position. |
vel2 | end velocity. |
duration | duration of the profile. |
Definition at line 80 of file velocityprofile_spline.cpp.
void KDL::VelocityProfile_Spline::SetProfileDuration | ( | double | pos1, |
double | vel1, | ||
double | acc1, | ||
double | pos2, | ||
double | vel2, | ||
double | acc2, | ||
double | duration | ||
) | [virtual] |
Generate quintic spline interpolation coeffcients.
pos1 | begin position. |
vel1 | begin velocity. |
acc1 | begin acceleration |
pos2 | end position. |
vel2 | end velocity. |
acc2 | end acceleration. |
duration | duration of the profile. |
Definition at line 107 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 157 of file velocityprofile_spline.cpp.
void KDL::VelocityProfile_Spline::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 184 of file velocityprofile_spline.cpp.
double KDL::VelocityProfile_Spline::coeff_[6] [private] |
Definition at line 63 of file velocityprofile_spline.hpp.
double KDL::VelocityProfile_Spline::duration_ [private] |
Definition at line 64 of file velocityprofile_spline.hpp.