1 #ifndef VELOCITYPROFILE_SPLINE_H 2 #define VELOCITYPROFILE_SPLINE_H 20 virtual void SetProfile(
double pos1,
double pos2);
29 double pos1,
double pos2,
double duration);
41 double pos1,
double vel1,
double pos2,
double vel2,
double duration);
54 virtual void SetProfileDuration(
double pos1,
double vel1,
double acc1,
double pos2,
double vel2,
double acc2,
double duration);
56 virtual double Pos(
double time)
const;
57 virtual double Vel(
double time)
const;
58 virtual double Acc(
double time)
const;
59 virtual void Write(std::ostream& os)
const;
67 #endif // VELOCITYPROFILE_CUBICSPLINE_H virtual double Acc(double time) const
virtual ~VelocityProfile_Spline()
virtual void Write(std::ostream &os) const
virtual double Vel(double time) const
A spline VelocityProfile trajectory interpolation.
virtual double Duration() const
virtual VelocityProfile * Clone() const
virtual void SetProfileDuration(double pos1, double pos2, double duration)
virtual void SetProfile(double pos1, double pos2)
virtual double Pos(double time) const