velocityprofile_rect.hpp

Go to the documentation of this file.

/***************************************************************************
  tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  velocityprofile_rect.h

                        velocityprofile_rect.h -  description
                           -------------------
    begin                : Mon January 10 2005
    copyright            : (C) 2005 Erwin Aertbelien
    email                : erwin.aertbelien@mech.kuleuven.ac.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/


/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              ORO_Geometry V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: velocityprofile_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
 *              $Name:  $
 ****************************************************************************/

#ifndef MOTIONPROFILE_RECT_H
#define MOTIONPROFILE_RECT_H

#include "velocityprofile.hpp"


namespace KDL {
        class VelocityProfile_Rectangular : public VelocityProfile
                // Defines a rectangular velocityprofile.
                // (i.e. constant velocity)
        {
                double d,p,v;
        public:
                double maxvel;

                VelocityProfile_Rectangular(double _maxvel=0):
                  maxvel(_maxvel) {}
                // constructs motion profile class with <maxvel> as parameter of the
                // trajectory.

                void SetMax( double _maxvel );
                void SetProfile(double pos1,double pos2);
                virtual void SetProfileDuration(
                        double pos1,double pos2,double duration);
                virtual double Duration() const;
                virtual double Pos(double time) const;
                virtual double Vel(double time) const;
                virtual double Acc(double time) const;
                virtual void Write(std::ostream& os) const;
                virtual VelocityProfile* Clone() const{
                        VelocityProfile_Rectangular* res =  new VelocityProfile_Rectangular(maxvel);
                        res->SetProfileDuration( p, p+v*d, d );
                        return res;
                }
                // returns copy of current VelocityProfile object. (virtual constructor)
                virtual ~VelocityProfile_Rectangular() {}
        };

}


#endif