Public Member Functions | Public Attributes
ParabolicRamp::ParabolicRampND Class Reference

Solves for optimal trajectores for a velocity-bounded ND system. More...

#include <ParabolicRamp.h>

List of all members.

Public Member Functions

void Accel (Real t, Vector &ddx) const
void Bounds (Vector &xmin, Vector &xmax) const
void Bounds (Real ta, Real tb, Vector &xmin, Vector &xmax) const
void Derivative (Real t, Vector &dx) const
void DerivBounds (Vector &vmin, Vector &vmax) const
void DerivBounds (Real ta, Real tb, Vector &vmin, Vector &vmax) const
void Dilate (Real timeScale)
void Evaluate (Real t, Vector &x) const
bool IsValid () const
void Output (Real dt, std::vector< Vector > &path) const
void SetConstant (const Vector &x, Real t=0)
void SetLinear (const Vector &x0, const Vector &x1, Real t)
void SolveBraking (const Vector &amax)
bool SolveMinAccel (const Vector &vmax, Real time)
bool SolveMinAccelLinear (const Vector &vmax, Real time)
bool SolveMinTime (const Vector &amax, const Vector &vmax)
bool SolveMinTimeLinear (const Vector &amax, const Vector &vmax)
void TrimBack (Real tcut)
void TrimFront (Real tcut)

Public Attributes

Vector dx0
Vector dx1
Real endTime
 Calculated upon SolveX.
std::vector< ParabolicRamp1Dramps
Vector x0
 Input.
Vector x1

Detailed Description

Solves for optimal trajectores for a velocity-bounded ND system.

Methods are essentially the same as for ParabolicRamp1D.

Definition at line 106 of file ParabolicRamp.h.


Member Function Documentation

void ParabolicRamp::ParabolicRampND::Accel ( Real  t,
Vector ddx 
) const

Definition at line 2108 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Bounds ( Vector xmin,
Vector xmax 
) const

Definition at line 2182 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Bounds ( Real  ta,
Real  tb,
Vector xmin,
Vector xmax 
) const

Definition at line 2191 of file ParabolicRamp.cpp.

Definition at line 2101 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::DerivBounds ( Vector vmin,
Vector vmax 
) const

Definition at line 2200 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::DerivBounds ( Real  ta,
Real  tb,
Vector vmin,
Vector vmax 
) const

Definition at line 2209 of file ParabolicRamp.cpp.

Definition at line 2150 of file ParabolicRamp.cpp.

Definition at line 2094 of file ParabolicRamp.cpp.

Definition at line 2218 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::Output ( Real  dt,
std::vector< Vector > &  path 
) const

Definition at line 2115 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::SetConstant ( const Vector x,
Real  t = 0 
)

Definition at line 1725 of file ParabolicRamp.cpp.

void ParabolicRamp::ParabolicRampND::SetLinear ( const Vector x0,
const Vector x1,
Real  t 
)

Definition at line 1738 of file ParabolicRamp.cpp.

Definition at line 2057 of file ParabolicRamp.cpp.

Definition at line 1958 of file ParabolicRamp.cpp.

Definition at line 1985 of file ParabolicRamp.cpp.

bool ParabolicRamp::ParabolicRampND::SolveMinTime ( const Vector amax,
const Vector vmax 
)

Definition at line 1866 of file ParabolicRamp.cpp.

Definition at line 1754 of file ParabolicRamp.cpp.

Definition at line 2168 of file ParabolicRamp.cpp.

Definition at line 2156 of file ParabolicRamp.cpp.


Member Data Documentation

Definition at line 130 of file ParabolicRamp.h.

Definition at line 131 of file ParabolicRamp.h.

Calculated upon SolveX.

Definition at line 134 of file ParabolicRamp.h.

Definition at line 135 of file ParabolicRamp.h.

Input.

Definition at line 130 of file ParabolicRamp.h.

Definition at line 131 of file ParabolicRamp.h.


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


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:27