44 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAP_H 45 #define KDL_MOTION_VELOCITYPROFILE_TRAP_H 80 virtual void SetProfile(
double pos1,
double pos2);
83 double pos1,
double pos2,
double newduration
95 double pos1,
double pos2,
double newvelocity
98 virtual void SetMax(
double _maxvel,
double _maxacc);
100 virtual double Pos(
double time)
const;
101 virtual double Vel(
double time)
const;
102 virtual double Acc(
double time)
const;
103 virtual void Write(std::ostream& os)
const;
virtual ~VelocityProfile_Trap()
virtual double Vel(double time) const
virtual double Pos(double time) const
VelocityProfile_Trap(double _maxvel=0, double _maxacc=0)
virtual void Write(std::ostream &os) const
virtual VelocityProfile * Clone() const
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
virtual double Acc(double time) const
virtual void SetProfileVelocity(double pos1, double pos2, double newvelocity)
virtual double Duration() const
virtual void SetMax(double _maxvel, double _maxacc)
virtual void SetProfile(double pos1, double pos2)