A spline VelocityProfile trajectory interpolation.
More...
#include <velocityprofile_spline.hpp>
|
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 () |
|
virtual | ~VelocityProfile () |
|
A spline VelocityProfile trajectory interpolation.
Definition at line 12 of file velocityprofile_spline.hpp.
KDL::VelocityProfile_Spline::VelocityProfile_Spline |
( |
| ) |
|
KDL::VelocityProfile_Spline::~VelocityProfile_Spline |
( |
| ) |
|
|
virtual |
double KDL::VelocityProfile_Spline::Acc |
( |
double |
time | ) |
const |
|
virtual |
double KDL::VelocityProfile_Spline::Duration |
( |
| ) |
const |
|
virtual |
double KDL::VelocityProfile_Spline::Pos |
( |
double |
time | ) |
const |
|
virtual |
void KDL::VelocityProfile_Spline::SetProfile |
( |
double |
pos1, |
|
|
double |
pos2 |
|
) |
| |
|
virtual |
void KDL::VelocityProfile_Spline::SetProfileDuration |
( |
double |
pos1, |
|
|
double |
pos2, |
|
|
double |
duration |
|
) |
| |
|
virtual |
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 |
void KDL::VelocityProfile_Spline::Write |
( |
std::ostream & |
os | ) |
const |
|
virtual |
double KDL::VelocityProfile_Spline::coeff_[6] |
|
private |
double KDL::VelocityProfile_Spline::duration_ |
|
private |
The documentation for this class was generated from the following files: