Public Member Functions | Private Attributes | List of all members
KDL::VelocityProfile_Trap Class Reference

#include <velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:
Inheritance graph
[legend]

Public Member Functions

virtual double Acc (double time) const
 
virtual VelocityProfileClone () const
 
virtual double Duration () const
 
virtual double Pos (double time) const
 
virtual void SetMax (double _maxvel, double _maxacc)
 
virtual void SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double newduration)
 
virtual void SetProfileVelocity (double pos1, double pos2, double newvelocity)
 
virtual double Vel (double time) const
 
 VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)
 
virtual void Write (std::ostream &os) const
 
virtual ~VelocityProfile_Trap ()
 
- Public Member Functions inherited from KDL::VelocityProfile
virtual ~VelocityProfile ()
 

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
 
double startpos
 
double t1
 
double t2
 

Additional Inherited Members

- Static Public Member Functions inherited from KDL::VelocityProfile
static VelocityProfileRead (std::istream &is)
 

Detailed Description

A Trapezoidal VelocityProfile implementation.

Definition at line 60 of file velocityprofile_trap.hpp.

Constructor & Destructor Documentation

KDL::VelocityProfile_Trap::VelocityProfile_Trap ( double  _maxvel = 0,
double  _maxacc = 0 
)

Definition at line 49 of file velocityprofile_trap.cpp.

KDL::VelocityProfile_Trap::~VelocityProfile_Trap ( )
virtual

Definition at line 186 of file velocityprofile_trap.cpp.

Member Function Documentation

double KDL::VelocityProfile_Trap::Acc ( double  time) const
virtual

Implements KDL::VelocityProfile.

Definition at line 166 of file velocityprofile_trap.cpp.

VelocityProfile * KDL::VelocityProfile_Trap::Clone ( ) const
virtual

Implements KDL::VelocityProfile.

Definition at line 180 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Duration ( ) const
virtual

Implements KDL::VelocityProfile.

Definition at line 135 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Pos ( double  time) const
virtual

Implements KDL::VelocityProfile.

Definition at line 139 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetMax ( double  _maxvel,
double  _maxacc 
)
virtual

Definition at line 130 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfile ( double  pos1,
double  pos2 
)
virtual

Implements KDL::VelocityProfile.

Definition at line 61 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileDuration ( double  pos1,
double  pos2,
double  newduration 
)
virtual

Implements KDL::VelocityProfile.

Definition at line 91 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileVelocity ( double  pos1,
double  pos2,
double  newvelocity 
)
virtual

Compute trapezoidal profile at a given fraction of max velocity

Parameters
pos1Position to start from
pos2Position to end at
newvelocityFraction of max velocity to use during the non-ramp, flat-velocity part of the profile.
KDL::epsilon<= newvelocity <= 1.0 (forcibly clamped to this range internally)

Definition at line 111 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Vel ( double  time) const
virtual

Implements KDL::VelocityProfile.

Definition at line 152 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::Write ( std::ostream &  os) const
virtual

Implements KDL::VelocityProfile.

Definition at line 189 of file velocityprofile_trap.cpp.

Member Data Documentation

double KDL::VelocityProfile_Trap::a1
private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a2
private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::a3
private

Definition at line 63 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b1
private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b2
private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::b3
private

Definition at line 64 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c1
private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c2
private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::c3
private

Definition at line 65 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::duration
private

Definition at line 66 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::endpos
private

Definition at line 73 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxacc
private

Definition at line 71 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::maxvel
private

Definition at line 70 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::startpos
private

Definition at line 72 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t1
private

Definition at line 67 of file velocityprofile_trap.hpp.

double KDL::VelocityProfile_Trap::t2
private

Definition at line 67 of file velocityprofile_trap.hpp.


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


orocos_kdl
Author(s):
autogenerated on Fri Jun 14 2019 19:15:39