velocityprofile_dirac.hpp
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00001 /***************************************************************************
00002   tag: Peter Soetens  Fri Feb 11 15:59:12 CET 2005  velocityprofile_dirac.h
00003 
00004                         velocityprofile_dirac.h -  description
00005                            -------------------
00006     begin                : Fri February 11 2005
00007     copyright            : (C) 2005 Peter Soetens
00008     email                : peter.soetens@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029 #ifndef MOTIONPROFILE_DIRAC_H
00030 #define MOTIONPROFILE_DIRAC_H
00031 
00032 #include "velocityprofile.hpp"
00033 
00034 
00035 namespace KDL {
00048         class VelocityProfile_Dirac : public VelocityProfile
00049         {
00050                 double p1,p2,t;
00051         public:
00052                 void SetProfile(double pos1,double pos2);
00053                 virtual void SetProfileDuration(double pos1,double pos2,double duration);
00054                 virtual double Duration() const;
00055                 virtual double Pos(double time) const;
00056                 virtual double Vel(double time) const;
00057                 virtual double Acc(double time) const;
00058                 virtual void Write(std::ostream& os) const;
00059                 virtual VelocityProfile* Clone() const {
00060                         VelocityProfile_Dirac* res =  new VelocityProfile_Dirac();
00061                         res->SetProfileDuration( p1, p2, t );
00062                         return res;
00063                 }
00064 
00065                 virtual ~VelocityProfile_Dirac() {}
00066         };
00067 
00068 }
00069 
00070 
00071 #endif


orocos_kdl
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autogenerated on Sat Oct 7 2017 03:04:28