velocityprofile_rect.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  velocityprofile_rect.h
00003 
00004                         velocityprofile_rect.h -  description
00005                            -------------------
00006     begin                : Mon January 10 2005
00007     copyright            : (C) 2005 Erwin Aertbelien
00008     email                : erwin.aertbelien@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029 /*****************************************************************************
00030  *  \author
00031  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00032  *
00033  *  \version
00034  *              ORO_Geometry V0.2
00035  *
00036  *      \par History
00037  *              - $log$
00038  *
00039  *      \par Release
00040  *              $Id: velocityprofile_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
00041  *              $Name:  $
00042  ****************************************************************************/
00043 
00044 #ifndef MOTIONPROFILE_RECT_H
00045 #define MOTIONPROFILE_RECT_H
00046 
00047 #include "velocityprofile.hpp"
00048 
00049 
00050 namespace KDL {
00056         class VelocityProfile_Rectangular : public VelocityProfile
00057                 // Defines a rectangular velocityprofile.
00058                 // (i.e. constant velocity)
00059         {
00060                 double d,p,v;
00061         public:
00062                 double maxvel;
00063 
00064                 VelocityProfile_Rectangular(double _maxvel=0):
00065                   maxvel(_maxvel) {}
00066                 // constructs motion profile class with <maxvel> as parameter of the
00067                 // trajectory.
00068 
00069                 void SetMax( double _maxvel );
00070                 void SetProfile(double pos1,double pos2);
00071                 virtual void SetProfileDuration(
00072                         double pos1,double pos2,double duration);
00073                 virtual double Duration() const;
00074                 virtual double Pos(double time) const;
00075                 virtual double Vel(double time) const;
00076                 virtual double Acc(double time) const;
00077                 virtual void Write(std::ostream& os) const;
00078                 virtual VelocityProfile* Clone() const{
00079                         VelocityProfile_Rectangular* res =  new VelocityProfile_Rectangular(maxvel);
00080                         res->SetProfileDuration( p, p+v*d, d );
00081                         return res;
00082                 }
00083                 // returns copy of current VelocityProfile object. (virtual constructor)
00084                 virtual ~VelocityProfile_Rectangular() {}
00085         };
00086 
00087 }
00088 
00089 
00090 #endif


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:25