#include <velocityprofile_traphalf.hpp>
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.
KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf |
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double |
_maxvel = 0 , |
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double |
_maxacc = 0 , |
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bool |
_starting = true |
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- Parameters
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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 |
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virtual |
double KDL::VelocityProfile_TrapHalf::Acc |
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double |
time | ) |
const |
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virtual |
double KDL::VelocityProfile_TrapHalf::Duration |
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const |
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virtual |
void KDL::VelocityProfile_TrapHalf::PlanProfile1 |
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double |
v, |
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double |
a |
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) |
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private |
void KDL::VelocityProfile_TrapHalf::PlanProfile2 |
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double |
v, |
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double |
a |
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) |
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private |
double KDL::VelocityProfile_TrapHalf::Pos |
( |
double |
time | ) |
const |
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virtual |
void KDL::VelocityProfile_TrapHalf::SetMax |
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double |
_maxvel, |
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double |
_maxacc, |
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bool |
_starting |
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) |
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void KDL::VelocityProfile_TrapHalf::SetProfile |
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double |
pos1, |
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double |
pos2 |
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) |
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virtual |
void KDL::VelocityProfile_TrapHalf::SetProfileDuration |
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double |
pos1, |
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double |
pos2, |
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double |
newduration |
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) |
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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
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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 |
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double |
time | ) |
const |
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virtual |
void KDL::VelocityProfile_TrapHalf::Write |
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std::ostream & |
os | ) |
const |
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virtual |
double KDL::VelocityProfile_TrapHalf::a1 |
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private |
double KDL::VelocityProfile_TrapHalf::a2 |
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private |
double KDL::VelocityProfile_TrapHalf::a3 |
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private |
double KDL::VelocityProfile_TrapHalf::b1 |
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private |
double KDL::VelocityProfile_TrapHalf::b2 |
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private |
double KDL::VelocityProfile_TrapHalf::b3 |
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private |
double KDL::VelocityProfile_TrapHalf::c1 |
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double KDL::VelocityProfile_TrapHalf::c2 |
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private |
double KDL::VelocityProfile_TrapHalf::c3 |
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private |
double KDL::VelocityProfile_TrapHalf::duration |
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double KDL::VelocityProfile_TrapHalf::endpos |
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double KDL::VelocityProfile_TrapHalf::maxacc |
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double KDL::VelocityProfile_TrapHalf::maxvel |
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bool KDL::VelocityProfile_TrapHalf::starting |
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private |
double KDL::VelocityProfile_TrapHalf::startpos |
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private |
double KDL::VelocityProfile_TrapHalf::t1 |
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private |
double KDL::VelocityProfile_TrapHalf::t2 |
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private |
The documentation for this class was generated from the following files: