KDL::VelocityProfile Class Reference

#include <velocityprofile.hpp>

Inheritance diagram for KDL::VelocityProfile:

Public Member Functions
virtual double	Acc (double time) const =0
virtual VelocityProfile *	Clone () const =0
virtual double	Duration () const =0
virtual double	Pos (double time) const =0
virtual void	SetProfile (double pos1, double pos2)=0
virtual void	SetProfileDuration (double pos1, double pos2, double duration)=0
virtual double	Vel (double time) const =0
virtual void	Write (std::ostream &os) const =0
virtual	~VelocityProfile ()

Static Public Member Functions
static VelocityProfile *	Read (std::istream &is)

Detailed Description

A VelocityProfile stores the velocity profile that is used within a trajectory. A velocity profile is the function that expresses position, velocity and acceleration of a point on a curve in function of time. It defines the how a point s moves on a path S.

Definition at line 62 of file velocityprofile.hpp.

Constructor & Destructor Documentation

virtual KDL::VelocityProfile::~VelocityProfile ( )

inlinevirtual

Definition at line 102 of file velocityprofile.hpp.

Member Function Documentation

virtual double KDL::VelocityProfile::Acc ( double  time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

virtual VelocityProfile* KDL::VelocityProfile::Clone ( ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

virtual double KDL::VelocityProfile::Duration ( ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

virtual double KDL::VelocityProfile::Pos ( double  time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

VelocityProfile * KDL::VelocityProfile::Read ( std::istream &  is )

static

Definition at line 55 of file velocityprofile.cpp.

virtual void KDL::VelocityProfile::SetProfile ( double  pos1, double  pos2  )

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

virtual void KDL::VelocityProfile::SetProfileDuration ( double  pos1, double  pos2, double  duration  )

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

virtual double KDL::VelocityProfile::Vel ( double  time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

virtual void KDL::VelocityProfile::Write ( std::ostream &  os ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.

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The documentation for this class was generated from the following files:

• velocityprofile.hpp
• velocityprofile.cpp