Public Member Functions | Private Member Functions | Private Attributes
KDL::VelocityProfile_TrapHalf Class Reference

#include <velocityprofile_traphalf.hpp>

Inheritance diagram for KDL::VelocityProfile_TrapHalf:
Inheritance graph
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List of all members.

Public Member Functions

virtual double Acc (double time) const
virtual VelocityProfileClone () const
virtual double Duration () const
virtual double Pos (double time) const
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 Vel (double time) const
 VelocityProfile_TrapHalf (double _maxvel=0, double _maxacc=0, bool _starting=true)
virtual void Write (std::ostream &os) const
virtual ~VelocityProfile_TrapHalf ()

Private Member Functions

void PlanProfile1 (double v, double a)
void PlanProfile2 (double v, double a)

Private Attributes

double a1
double a2
double a3
double b1
double b2
double b3
double c1
double c2
double c3
double duration
double endpos
double maxacc
double maxvel
bool starting
double startpos
double t1
double t2

Detailed Description

A 'Half' Trapezoidal VelocityProfile. A contructor flag indicates if the calculated profile should be starting or ending.

Definition at line 63 of file velocityprofile_traphalf.hpp.


Constructor & Destructor Documentation

KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf ( double  _maxvel = 0,
double  _maxacc = 0,
bool  _starting = true 
)
Parameters:
maxvelmaximal velocity of the motion profile (positive)
maxaccmaximal acceleration of the motion profile (positive)
startingthis value is true when initial velocity is zero and ending velocity is maxvel, is false for the reverse

Definition at line 49 of file velocityprofile_traphalf.cpp.

Definition at line 190 of file velocityprofile_traphalf.cpp.


Member Function Documentation

double KDL::VelocityProfile_TrapHalf::Acc ( double  time) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 170 of file velocityprofile_traphalf.cpp.

Implements KDL::VelocityProfile.

Definition at line 184 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Duration ( ) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 139 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile1 ( double  v,
double  a 
) [private]

Definition at line 57 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::PlanProfile2 ( double  v,
double  a 
) [private]

Definition at line 69 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Pos ( double  time) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 143 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetMax ( double  _maxvel,
double  _maxacc,
bool  _starting 
)

Definition at line 52 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfile ( double  pos1,
double  pos2 
) [virtual]

Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2. If the distance is too short betweeen pos1 and pos2, only the acceleration phase is set and the max velocity is not reached.

Parameters:
pos1Starting position
pos2Ending position

Can throw a Error_MotionPlanning_Not_Feasible

Implements KDL::VelocityProfile.

Definition at line 81 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::SetProfileDuration ( double  pos1,
double  pos2,
double  newduration 
) [virtual]

Can be used to prolong the profile, there are two possible outcomes: in a first phase the acceleration is lowered as such that the end position and maximum velocity are reached at the given duration (newduration). In this case there is an acceleration part and a constant velocity part, when this reaches a minimum acceleration value at which the constant part disappears, the motion is stalled, in this case their is a non-motion part and an acceleration part.

Parameters:
pos1starting position
pos2ending position
newdurationthe desired duration, if it is lower than the minimum duration, the minimum duration will be used instead of the given duration.

Implements KDL::VelocityProfile.

Definition at line 99 of file velocityprofile_traphalf.cpp.

double KDL::VelocityProfile_TrapHalf::Vel ( double  time) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 156 of file velocityprofile_traphalf.cpp.

void KDL::VelocityProfile_TrapHalf::Write ( std::ostream &  os) const [virtual]

Implements KDL::VelocityProfile.

Definition at line 193 of file velocityprofile_traphalf.cpp.


Member Data Documentation

Definition at line 66 of file velocityprofile_traphalf.hpp.

Definition at line 66 of file velocityprofile_traphalf.hpp.

Definition at line 66 of file velocityprofile_traphalf.hpp.

Definition at line 67 of file velocityprofile_traphalf.hpp.

Definition at line 67 of file velocityprofile_traphalf.hpp.

Definition at line 67 of file velocityprofile_traphalf.hpp.

Definition at line 68 of file velocityprofile_traphalf.hpp.

Definition at line 68 of file velocityprofile_traphalf.hpp.

Definition at line 68 of file velocityprofile_traphalf.hpp.

Definition at line 69 of file velocityprofile_traphalf.hpp.

Definition at line 73 of file velocityprofile_traphalf.hpp.

Definition at line 77 of file velocityprofile_traphalf.hpp.

Definition at line 76 of file velocityprofile_traphalf.hpp.

Definition at line 78 of file velocityprofile_traphalf.hpp.

Definition at line 72 of file velocityprofile_traphalf.hpp.

Definition at line 70 of file velocityprofile_traphalf.hpp.

Definition at line 70 of file velocityprofile_traphalf.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Aug 26 2015 15:14:15