KDL::VelocityProfile_Spline Class Reference

A spline VelocityProfile trajectory interpolation. More...

#include <velocityprofile_spline.hpp>

Inheritance diagram for KDL::VelocityProfile_Spline:

List of all members.

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_

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Detailed Description

A spline VelocityProfile trajectory interpolation.

Definition at line 12 of file velocityprofile_spline.hpp.

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Constructor & Destructor Documentation

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

)

Definition at line 18 of file velocityprofile_spline.cpp.

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

const VelocityProfile_Spline &

p

)

Definition at line 32 of file velocityprofile_spline.cpp.

KDL::VelocityProfile_Spline::~VelocityProfile_Spline

(

)

[virtual]

Definition at line 46 of file velocityprofile_spline.cpp.

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Member Function Documentation

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 coefficients.

Parameters:

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 coefficients.

Parameters:

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 coefficients.

Parameters:

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.

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Member Data Documentation

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.

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The documentation for this class was generated from the following files:

• velocityprofile_spline.hpp
• velocityprofile_spline.cpp