velocityprofile_traphalf.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  velocityprofile_traphalf.h
00003 
00004                         velocityprofile_traphalf.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_traphalf.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
00041  *              $Name:  $
00042  *  \par Status
00043  *      Experimental
00044  ****************************************************************************/
00045 
00046 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
00047 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
00048 
00049 #include "velocityprofile.hpp"
00050 
00051 
00052 
00053 
00054 namespace KDL {
00055 
00056 
00063 class VelocityProfile_TrapHalf : public VelocityProfile
00064         {
00065                 // For "running" a motion profile :
00066                 double a1,a2,a3; // coef. from ^0 -> ^2 of first part
00067                 double b1,b2,b3; // of 2nd part
00068                 double c1,c2,c3; // of 3rd part
00069                 double duration;
00070                 double t1,t2;
00071 
00072                 double startpos;
00073                 double endpos;
00074 
00075                 // Persistent state :
00076                 double maxvel;
00077                 double maxacc;
00078                 bool   starting;
00079 
00080                 void PlanProfile1(double v,double a);
00081                 void PlanProfile2(double v,double a);
00082         public:
00083 
00090                 VelocityProfile_TrapHalf(double _maxvel=0,double _maxacc=0,bool _starting=true);
00091 
00092                 void SetMax(double _maxvel,double _maxacc,bool _starting);
00093 
00104                 virtual void SetProfile(double pos1,double pos2);
00105 
00117                 virtual void SetProfileDuration(
00118                         double pos1,double pos2,double newduration
00119                 );
00120 
00121                 virtual double Duration() const;
00122                 virtual double Pos(double time) const;
00123                 virtual double Vel(double time) const;
00124                 virtual double Acc(double time) const;
00125                 virtual void Write(std::ostream& os) const;
00126                 virtual VelocityProfile* Clone() const;
00127 
00128                 virtual ~VelocityProfile_TrapHalf();
00129         };
00130 
00131 
00132 
00133 }
00134 
00135 
00136 #endif


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:33:23