KDL::VelocityProfile_Dirac Class Reference

#include <velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:

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

Private Attributes
double	p1
double	p2
double	t

Additional Inherited Members
Static Public Member Functions inherited from KDL::VelocityProfile
static VelocityProfile *	Read (std::istream &is)

Detailed Description

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.

However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;

Definition at line 48 of file velocityprofile_dirac.hpp.

Constructor & Destructor Documentation

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac ( )

inlinevirtual

Definition at line 65 of file velocityprofile_dirac.hpp.

Member Function Documentation

double KDL::VelocityProfile_Dirac::Acc ( double  time ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 78 of file velocityprofile_dirac.cpp.

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

inlinevirtual

Implements KDL::VelocityProfile.

Definition at line 59 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_dirac.cpp.

double KDL::VelocityProfile_Dirac::Pos ( double  time ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 55 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::SetProfile ( double  pos1, double  pos2  )

virtual

Implements KDL::VelocityProfile.

Definition at line 34 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::SetProfileDuration ( double  pos1, double  pos2, double  duration  )

virtual

Implements KDL::VelocityProfile.

Definition at line 45 of file velocityprofile_dirac.cpp.

double KDL::VelocityProfile_Dirac::Vel ( double  time ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 67 of file velocityprofile_dirac.cpp.

void KDL::VelocityProfile_Dirac::Write ( std::ostream &  os ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 84 of file velocityprofile_dirac.cpp.

Member Data Documentation

double KDL::VelocityProfile_Dirac::p1

private

Definition at line 50 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::p2

private

Definition at line 50 of file velocityprofile_dirac.hpp.

double KDL::VelocityProfile_Dirac::t

private

Definition at line 50 of file velocityprofile_dirac.hpp.

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

• velocityprofile_dirac.hpp
• velocityprofile_dirac.cpp