#include <velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:

Public Member Functions
virtual double	Acc (double time) const

virtual VelocityProfile *	Clone () const

virtual double	Duration () const

virtual double	Pos (double time) const

virtual void	SetMax (double _maxvel, double _maxacc)

virtual void	SetProfile (double pos1, double pos2)

virtual void	SetProfileDuration (double pos1, double pos2, double newduration)

virtual void	SetProfileVelocity (double pos1, double pos2, double newvelocity)

virtual double	Vel (double time) const

	VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)

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

virtual	~VelocityProfile_Trap ()

Public Member Functions inherited from KDL::VelocityProfile
virtual	~VelocityProfile ()

Private Attributes
double	a1

double	a2

double	a3

double	b1

double	b2

double	b3

double	c1

double	c2

double	c3

double	duration

double	endpos

double	maxacc

double	maxvel

double	startpos

double	t1

double	t2

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

Detailed Description

A Trapezoidal VelocityProfile implementation.

Definition at line 60 of file velocityprofile_trap.hpp.

Constructor & Destructor Documentation

KDL::VelocityProfile_Trap::VelocityProfile_Trap	(	double	_maxvel = `0`,
		double	_maxacc = `0`
	)

Definition at line 49 of file velocityprofile_trap.cpp.

KDL::VelocityProfile_Trap::~VelocityProfile_Trap ( )

virtual

Definition at line 186 of file velocityprofile_trap.cpp.

Member Function Documentation

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

virtual

Implements KDL::VelocityProfile.

Definition at line 166 of file velocityprofile_trap.cpp.

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

virtual

Implements KDL::VelocityProfile.

Definition at line 180 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

Definition at line 135 of file velocityprofile_trap.cpp.

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

virtual

Implements KDL::VelocityProfile.

Definition at line 139 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetMax	(	double	_maxvel,
		double	_maxacc
	)

virtual

Definition at line 130 of file velocityprofile_trap.cpp.

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

virtual

Implements KDL::VelocityProfile.

Definition at line 61 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	newduration
	)

virtual

Implements KDL::VelocityProfile.

Definition at line 91 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileVelocity	(	double	pos1,
		double	pos2,
		double	newvelocity
	)

virtual

Compute trapezoidal profile at a given fraction of max velocity

Parameters

pos1	Position to start from
pos2	Position to end at
newvelocity	Fraction of max velocity to use during the non-ramp, flat-velocity part of the profile.
KDL::epsilon	<= newvelocity <= 1.0 (forcibly clamped to this range internally)

Definition at line 111 of file velocityprofile_trap.cpp.

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

virtual

Implements KDL::VelocityProfile.

Definition at line 152 of file velocityprofile_trap.cpp.

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

virtual

Implements KDL::VelocityProfile.

Definition at line 189 of file velocityprofile_trap.cpp.

Member Data Documentation

double KDL::VelocityProfile_Trap::a1

private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a2

private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a3

private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b1

private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b2

private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b3

private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c1

private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c2

private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c3

private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::duration

private

Definition at line 66 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::endpos

private

Definition at line 73 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxacc

private

Definition at line 71 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxvel

private

Definition at line 70 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::startpos

private

Definition at line 72 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t1

private

Definition at line 67 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t2

private

Definition at line 67 of file velocityprofile_trap.hpp.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation