#include <velocityprofile_traphalf.hpp>

Inheritance diagram for KDL::VelocityProfile_TrapHalf:

Public Member Functions
virtual double	Acc (double time) const
virtual VelocityProfile *	Clone () const
virtual double	Duration () const
virtual double	Pos (double time) const
void	SetMax (double _maxvel, double _maxacc, bool _starting)
virtual void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double newduration)
virtual double	Vel (double time) const
	VelocityProfile_TrapHalf (double _maxvel=0, double _maxacc=0, bool _starting=true)
virtual void	Write (std::ostream &os) const
virtual	~VelocityProfile_TrapHalf ()
Private Member Functions
void	PlanProfile1 (double v, double a)
void	PlanProfile2 (double v, double a)
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
bool	starting
double	startpos
double	t1
double	t2

Detailed Description

A 'Half' Trapezoidal VelocityProfile. A constructor flag indicates if the calculated profile should be starting or ending.

Definition at line 63 of file velocityprofile_traphalf.hpp.

Constructor & Destructor Documentation

KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf	(	double	_maxvel = `0`,
		double	_maxacc = `0`,
		bool	_starting = `true`
	)

Parameters:

maxvel	maximal velocity of the motion profile (positive)
maxacc	maximal acceleration of the motion profile (positive)
starting	this value is true when initial velocity is zero and ending velocity is maxvel, is false for the reverse

Definition at line 50 of file velocityprofile_traphalf.cpp.

KDL::VelocityProfile_TrapHalf::~VelocityProfile_TrapHalf ( ) [virtual]

Definition at line 191 of file velocityprofile_traphalf.cpp.

Member Function Documentation

double KDL::VelocityProfile_TrapHalf::Acc ( double time ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 171 of file velocityprofile_traphalf.cpp.

VelocityProfile * KDL::VelocityProfile_TrapHalf::Clone ( ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 185 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Duration ( ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 140 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile1	(	double	v,
		double	a
	)		`[private]`

Definition at line 58 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile2	(	double	v,
		double	a
	)		`[private]`

Definition at line 70 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Pos ( double time ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 144 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetMax	(	double	_maxvel,
		double	_maxacc,
		bool	_starting
	)

Definition at line 53 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfile	(	double	pos1,
		double	pos2
	)		`[virtual]`

Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2. If the distance is too short between pos1 and pos2, only the acceleration phase is set and the max velocity is not reached.

Parameters:

pos1	Starting position
pos2	Ending position

Can throw a Error_MotionPlanning_Not_Feasible

Implements KDL::VelocityProfile.

Definition at line 82 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	newduration
	)		`[virtual]`

Can be used to prolong the profile, there are two possible outcomes: in a first phase the acceleration is lowered as such that the end position and maximum velocity are reached at the given duration (newduration). In this case there is an acceleration part and a constant velocity part, when this reaches a minimum acceleration value at which the constant part disappears, the motion is stalled, in this case their is a non-motion part and an acceleration part.

Parameters:

pos1	starting position
pos2	ending position
newduration	the desired duration, if it is lower than the minimum duration, the minimum duration will be used instead of the given duration.

Implements KDL::VelocityProfile.

Definition at line 100 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Vel ( double time ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 157 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::Write ( std::ostream & os ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 194 of file velocityprofile_traphalf.cpp.