velocityprofile_spline.hpp
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00001 #ifndef VELOCITYPROFILE_SPLINE_H
00002 #define VELOCITYPROFILE_SPLINE_H
00003 
00004 #include "velocityprofile.hpp"
00005 
00006 namespace KDL
00007 {
00012 class VelocityProfile_Spline : public VelocityProfile
00013 {
00014 public:
00015     VelocityProfile_Spline();
00016     VelocityProfile_Spline(const VelocityProfile_Spline &p);
00017 
00018         virtual ~VelocityProfile_Spline();
00019         
00020     virtual void SetProfile(double pos1, double pos2);
00028     virtual void SetProfileDuration(
00029       double pos1, double pos2, double duration);
00030 
00040     virtual void SetProfileDuration(
00041       double pos1, double vel1, double pos2, double vel2, double duration);
00042 
00054     virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration);
00055     virtual double Duration() const;
00056     virtual double Pos(double time) const;
00057     virtual double Vel(double time) const;
00058     virtual double Acc(double time) const;
00059     virtual void Write(std::ostream& os) const;
00060     virtual VelocityProfile* Clone() const;
00061 private:
00062 
00063     double coeff_[6];
00064     double duration_;
00065 };
00066 }
00067 #endif // VELOCITYPROFILE_CUBICSPLINE_H


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14