46 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 47 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 92 void SetMax(
double _maxvel,
double _maxacc,
bool _starting);
104 virtual void SetProfile(
double pos1,
double pos2);
118 double pos1,
double pos2,
double newduration
122 virtual double Pos(
double time)
const;
123 virtual double Vel(
double time)
const;
124 virtual double Acc(
double time)
const;
125 virtual void Write(std::ostream& os)
const;
virtual double Pos(double time) const
virtual double Duration() const
virtual VelocityProfile * Clone() const
VelocityProfile_TrapHalf(double _maxvel=0, double _maxacc=0, bool _starting=true)
virtual ~VelocityProfile_TrapHalf()
void PlanProfile2(double v, double a)
virtual double Acc(double time) const
virtual void SetProfile(double pos1, double pos2)
virtual double Vel(double time) const
void SetMax(double _maxvel, double _maxacc, bool _starting)
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
void PlanProfile1(double v, double a)
virtual void Write(std::ostream &os) const