velocityprofile_rect.hpp

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/***************************************************************************
  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