velocityprofile_dirac.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
3 
4  velocityprofile_dirac.h - description
5  -------------------
6  begin : Fri February 11 2005
7  copyright : (C) 2005 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 
29 #ifndef MOTIONPROFILE_DIRAC_H
30 #define MOTIONPROFILE_DIRAC_H
31 
32 #include "velocityprofile.hpp"
33 
34 
35 namespace KDL {
49  {
50  double p1,p2,t;
51  public:
52  void SetProfile(double pos1,double pos2);
53  virtual void SetProfileDuration(double pos1,double pos2,double duration);
54  virtual double Duration() const;
55  virtual double Pos(double time) const;
56  virtual double Vel(double time) const;
57  virtual double Acc(double time) const;
58  virtual void Write(std::ostream& os) const;
59  virtual VelocityProfile* Clone() const {
61  res->SetProfileDuration( p1, p2, t );
62  return res;
63  }
64 
66  };
67 
68 }
69 
70 
71 #endif
virtual double Acc(double time) const
virtual double Duration() const
virtual double Vel(double time) const
void SetProfile(double pos1, double pos2)
virtual double Pos(double time) const
virtual void SetProfileDuration(double pos1, double pos2, double duration)
virtual void Write(std::ostream &os) const
virtual VelocityProfile * Clone() const


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autogenerated on Fri Jun 14 2019 19:15:38