#include <velocityprofile_trap.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 | 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 |
A Trapezoidal VelocityProfile implementation.
Definition at line 60 of file velocityprofile_trap.hpp.
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.
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
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.
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.