velocityprofile_traphalf.hpp

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

                        velocityprofile_traphalf.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_traphalf.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
 *      $Name:  $
 *  \par Status
 *      Experimental
 ****************************************************************************/

#ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
#define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H

#include "velocityprofile.hpp"




namespace KDL {


class VelocityProfile_TrapHalf : public VelocityProfile
    {
        // For "running" a motion profile :
        double a1,a2,a3; // coef. from ^0 -> ^2 of first part
        double b1,b2,b3; // of 2nd part
        double c1,c2,c3; // of 3rd part
        double duration;
        double t1,t2;

        double startpos;
        double endpos;

        // Persistent state :
        double maxvel;
        double maxacc;
        bool   starting;

        void PlanProfile1(double v,double a);
        void PlanProfile2(double v,double a);
    public:

        VelocityProfile_TrapHalf(double _maxvel=0,double _maxacc=0,bool _starting=true);

        void SetMax(double _maxvel,double _maxacc,bool _starting);

        virtual void SetProfile(double pos1,double pos2);

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

        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;

        virtual ~VelocityProfile_TrapHalf();
    };



}


#endif