A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap: More...

#include <velocity_profile_atrap.h>

Inheritance diagram for pilz::VelocityProfile_ATrap:

Public Member Functions
virtual double	Acc (double time) const override
	Get given acceleration/deceleration at given time. More...

virtual KDL::VelocityProfile *	Clone () const override
	returns copy of current VelocityProfile object More...

virtual double	Duration () const override
	Duration. More...

double	FirstPhaseDuration () const
	get the time of first phase More...

bool	operator== (const VelocityProfile_ATrap &other) const
	Compares two Asymmetric Trapezoidal Velocity Profiles. More...

virtual double	Pos (double time) const override
	Get position at given time. More...

double	SecondPhaseDuration () const
	get the time of second phase More...

virtual void	SetProfile (double pos1, double pos2) override
	compute the fastest profile Algorithm: More...

bool	setProfileAllDurations (double pos1, double pos2, double duration1, double duration2, double duration3)
	Profile with given acceleration/constant/deceleration durations. Each duration must obey the maximal velocity/acceleration/deceleration constraints. Otherwise the operation will be ignored. Algorithm: More...

virtual void	SetProfileDuration (double pos1, double pos2, double duration) override
	Profile scaled by the total duration. More...

bool	setProfileStartVelocity (double pos1, double pos2, double vel1)
	Profile with start velocity Note: This function is not general and is currently only used for live control (vel1*(pos2-pos1)>0). More...

double	ThirdPhaseDuration () const
	get the time of third phase More...

virtual double	Vel (double time) const override
	Get velocity at given time. More...

	VelocityProfile_ATrap (double max_vel=0, double max_acc=0, double max_dec=0)
	Constructor. More...

virtual void	Write (std::ostream &os) const override
	Write basic information. More...

virtual	~VelocityProfile_ATrap ()

Public Member Functions inherited from KDL::VelocityProfile
virtual	~VelocityProfile ()

Private Member Functions
void	setEmptyProfile ()
	helper functions More...

Private Attributes
double	a1_
	three phases of trapezoid More...

double	a2_

double	a3_

double	b1_
	coef. from ^0 -> ^2 of first phase More...

double	b2_

double	b3_

double	c1_
	of second phase More...

double	c2_

double	c3_

double	end_pos_

const double	max_acc_

const double	max_dec_

const double	max_vel_
	specification of the motion profile : More...

double	start_pos_

double	start_vel_
	for initial velocity More...

double	t_a_
	of third phase More...

double	t_b_
	the duration of first phase More...

double	t_c_
	the duration of second phase More...

Friends
std::ostream &	operator<< (std::ostream &os, const VelocityProfile_ATrap &p)

Additional Inherited Members
Static Public Member Functions inherited from KDL::VelocityProfile
static VelocityProfile *	Read (std::istream &is)

Detailed Description

A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap:

Maximal acceleration and deceleration can be different, resulting an asymmetric trapezoid shaped velocity profile.
Function to generate full synchronized PTP trajectory is provided.
Function to generate trapezoid shaped velocity profile with start velocity.

Definition at line 34 of file velocity_profile_atrap.h.

Constructor & Destructor Documentation

pilz::VelocityProfile_ATrap::VelocityProfile_ATrap	(	double	max_vel = `0`,
		double	max_acc = `0`,
		double	max_dec = `0`
	)

Constructor.

Parameters

max_vel	maximal velocity (absolute value, always positive)
max_acc	maximal acceleration (absolute value, always positive)
max_dec	maximal deceleration (absolute value, always positive)

Definition at line 22 of file velocity_profile_atrap.cpp.

pilz::VelocityProfile_ATrap::~VelocityProfile_ATrap ( )

virtual

Definition at line 416 of file velocity_profile_atrap.cpp.

Member Function Documentation

double pilz::VelocityProfile_ATrap::Acc ( double time ) const

overridevirtual

Get given acceleration/deceleration at given time.

Parameters

time

Returns

Implements KDL::VelocityProfile.

Definition at line 333 of file velocity_profile_atrap.cpp.

KDL::VelocityProfile * pilz::VelocityProfile_ATrap::Clone ( ) const

overridevirtual

returns copy of current VelocityProfile object

Returns

Implements KDL::VelocityProfile.

Definition at line 356 of file velocity_profile_atrap.cpp.

double pilz::VelocityProfile_ATrap::Duration ( ) const

overridevirtual

Duration.

Returns: total duration of the trajectory

Implements KDL::VelocityProfile.

Definition at line 282 of file velocity_profile_atrap.cpp.

double pilz::VelocityProfile_ATrap::FirstPhaseDuration ( ) const

inline

get the time of first phase

Returns

Definition at line 101 of file velocity_profile_atrap.h.

bool pilz::VelocityProfile_ATrap::operator== ( const VelocityProfile_ATrap & other ) const

Compares two Asymmetric Trapezoidal Velocity Profiles.

Returns: True if equal, false otherwise.

Definition at line 394 of file velocity_profile_atrap.cpp.

double pilz::VelocityProfile_ATrap::Pos ( double time ) const

overridevirtual

Get position at given time.

Parameters

time

Returns

Implements KDL::VelocityProfile.

Definition at line 287 of file velocity_profile_atrap.cpp.

double pilz::VelocityProfile_ATrap::SecondPhaseDuration ( ) const

inline

get the time of second phase

Returns

Definition at line 106 of file velocity_profile_atrap.h.

void pilz::VelocityProfile_ATrap::setEmptyProfile ( )

private

helper functions

Definition at line 421 of file velocity_profile_atrap.cpp.

void pilz::VelocityProfile_ATrap::SetProfile	(	double	pos1,
		double	pos2
	)

overridevirtual

compute the fastest profile Algorithm:

compute the minimal distance which is needed to reach maximal velocity
if maximal velocity can be reached
- compute the coefficients of the trajectory
if maximal velocity can not be reached
- compute the new velocity can be reached
- compute the coefficients based on this new velocity

Parameters

pos1	start position
pos2	goal position

Implements KDL::VelocityProfile.

Definition at line 32 of file velocity_profile_atrap.cpp.

bool pilz::VelocityProfile_ATrap::setProfileAllDurations	(	double	pos1,
		double	pos2,
		double	duration1,
		double	duration2,
		double	duration3
	)

Profile with given acceleration/constant/deceleration durations. Each duration must obey the maximal velocity/acceleration/deceleration constraints. Otherwise the operation will be ignored. Algorithm:

compute the maximal velocity of given durations
compute the acceleration and deceleration of given duraitons
if limits are fulfilled
- compute the coefficients
  Parameters
  
  pos1 start position
  
  pos2 goal position
  
  acc_duration time of acceleration phase
  
  const_duration time of constant phase
  
  dec_duration time of deceleration phase
  
  Returns
  ture if the combination of three durations is valid

Definition at line 125 of file velocity_profile_atrap.cpp.

void pilz::VelocityProfile_ATrap::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	duration
	)

overridevirtual

Profile scaled by the total duration.

Parameters

pos1	start position
pos2	goal position
duration	trajectory duration (must be longer than fastest case, otherwise will be ignored)

Implements KDL::VelocityProfile.

Definition at line 102 of file velocity_profile_atrap.cpp.

bool pilz::VelocityProfile_ATrap::setProfileStartVelocity	(	double	pos1,
		double	pos2,
		double	vel1
	)

Profile with start velocity Note: This function is not general and is currently only used for live control (vel1*(pos2-pos1)>0).

Parameters

pos1	start position
pos2	goal position
vel1	start velocity

Returns

Definition at line 181 of file velocity_profile_atrap.cpp.

double pilz::VelocityProfile_ATrap::ThirdPhaseDuration ( ) const

inline

get the time of third phase

Returns

Definition at line 111 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::Vel ( double time ) const

overridevirtual

Get velocity at given time.

Parameters

time

Returns

Implements KDL::VelocityProfile.

Definition at line 310 of file velocity_profile_atrap.cpp.

void pilz::VelocityProfile_ATrap::Write ( std::ostream & os ) const

overridevirtual

Write basic information.

Parameters

os

Implements KDL::VelocityProfile.

Definition at line 364 of file velocity_profile_atrap.cpp.

Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const VelocityProfile_ATrap &	p
	)

friend

Definition at line 369 of file velocity_profile_atrap.cpp.

Member Data Documentation

double pilz::VelocityProfile_ATrap::a1_

private

three phases of trapezoid

Definition at line 176 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::a2_

private

Definition at line 176 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::a3_

private

Definition at line 176 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::b1_

private

coef. from ^0 -> ^2 of first phase

Definition at line 177 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::b2_

private

Definition at line 177 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::b3_

private

Definition at line 177 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::c1_

private

of second phase

Definition at line 178 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::c2_

private

Definition at line 178 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::c3_

private

Definition at line 178 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::end_pos_

private

Definition at line 170 of file velocity_profile_atrap.h.

const double pilz::VelocityProfile_ATrap::max_acc_

private

Definition at line 167 of file velocity_profile_atrap.h.

const double pilz::VelocityProfile_ATrap::max_dec_

private

Definition at line 168 of file velocity_profile_atrap.h.

const double pilz::VelocityProfile_ATrap::max_vel_

private

specification of the motion profile :

Definition at line 166 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::start_pos_

private

Definition at line 169 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::start_vel_

private

for initial velocity

Definition at line 173 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::t_a_

private

of third phase

time of three phases

Definition at line 181 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::t_b_

private

the duration of first phase

Definition at line 182 of file velocity_profile_atrap.h.

double pilz::VelocityProfile_ATrap::t_c_

private

the duration of second phase

Definition at line 183 of file velocity_profile_atrap.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation