velocityprofile_spline.hpp

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#ifndef VELOCITYPROFILE_SPLINE_H
#define VELOCITYPROFILE_SPLINE_H

#include "velocityprofile.hpp"

namespace KDL
{
class VelocityProfile_Spline : public VelocityProfile
{
public:
    VelocityProfile_Spline();
    VelocityProfile_Spline(const VelocityProfile_Spline &p);

    virtual ~VelocityProfile_Spline();

    virtual void SetProfile(double pos1, double pos2);
    virtual void SetProfileDuration(
      double pos1, double pos2, double duration);

    virtual void SetProfileDuration(
      double pos1, double vel1, double pos2, double vel2, double duration);

    virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, 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;
private:

    double coeff_[6];
    double duration_;
};
}
#endif // VELOCITYPROFILE_CUBICSPLINE_H