Public Member Functions | Private Attributes | List of all members
robotis_framework::SimpleTrapezoidalVelocityProfile Class Reference

#include <simple_trapezoidal_velocity_profile.h>

Public Member Functions

double getAcceleration (double time)
 
double getAcceleration ()
 
double getConstantVelocitySectionStartTime ()
 
double getDecelerationSectionStartTime ()
 
double getPosition (double time)
 
double getPosition ()
 
double getTotalTime ()
 
double getVelocity (double time)
 
double getVelocity ()
 
void setTime (double time)
 
void setTimeBaseTrajectory (double init_pos, double final_pos, double accel_time, double total_time)
 
void setTimeBaseTrajectory (double init_pos, double final_pos, double accel_time, double decel_time, double total_time)
 
void setVelocityBaseTrajectory (double init_pos, double final_pos, double acceleration, double max_velocity)
 
void setVelocityBaseTrajectory (double init_pos, double final_pos, double acceleration, double deceleration, double max_velocity)
 
 SimpleTrapezoidalVelocityProfile ()
 
 ~SimpleTrapezoidalVelocityProfile ()
 

Private Attributes

double accel_time_
 
double acceleration_
 
double const_start_time_
 
double const_time_
 
double current_acc_
 
double current_pos_
 
double current_time_
 
double current_vel_
 
double decel_start_time_
 
double decel_time_
 
double deceleration_
 
double final_pos_
 
double initial_pos_
 
double max_velocity_
 
Eigen::MatrixXd pos_coeff_accel_section_
 
Eigen::MatrixXd pos_coeff_const_section_
 
Eigen::MatrixXd pos_coeff_decel_section_
 
Eigen::MatrixXd time_variables_
 
double total_time_
 
Eigen::MatrixXd vel_coeff_accel_section_
 
Eigen::MatrixXd vel_coeff_const_section_
 
Eigen::MatrixXd vel_coeff_decel_section_
 

Detailed Description

Definition at line 35 of file simple_trapezoidal_velocity_profile.h.

Constructor & Destructor Documentation

SimpleTrapezoidalVelocityProfile::SimpleTrapezoidalVelocityProfile ( )

Definition at line 29 of file simple_trapezoidal_velocity_profile.cpp.

SimpleTrapezoidalVelocityProfile::~SimpleTrapezoidalVelocityProfile ( )

Definition at line 70 of file simple_trapezoidal_velocity_profile.cpp.

Member Function Documentation

double SimpleTrapezoidalVelocityProfile::getAcceleration ( double  time)

Definition at line 215 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getAcceleration ( )

Definition at line 272 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getConstantVelocitySectionStartTime ( )

Definition at line 282 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getDecelerationSectionStartTime ( )

Definition at line 287 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getPosition ( double  time)

Definition at line 203 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getPosition ( )

Definition at line 262 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getTotalTime ( )

Definition at line 277 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getVelocity ( double  time)

Definition at line 209 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getVelocity ( )

Definition at line 267 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTime ( double  time)

Definition at line 221 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTimeBaseTrajectory ( double  init_pos,
double  final_pos,
double  accel_time,
double  total_time 
)

Definition at line 142 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTimeBaseTrajectory ( double  init_pos,
double  final_pos,
double  accel_time,
double  decel_time,
double  total_time 
)

Definition at line 147 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setVelocityBaseTrajectory ( double  init_pos,
double  final_pos,
double  acceleration,
double  max_velocity 
)

Definition at line 75 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setVelocityBaseTrajectory ( double  init_pos,
double  final_pos,
double  acceleration,
double  deceleration,
double  max_velocity 
)

Definition at line 80 of file simple_trapezoidal_velocity_profile.cpp.

Member Data Documentation

double robotis_framework::SimpleTrapezoidalVelocityProfile::accel_time_
private

Definition at line 84 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::acceleration_
private

Definition at line 71 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::const_start_time_
private

Definition at line 88 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::const_time_
private

Definition at line 85 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_acc_
private

Definition at line 80 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_pos_
private

Definition at line 78 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_time_
private

Definition at line 77 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_vel_
private

Definition at line 79 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::decel_start_time_
private

Definition at line 89 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::decel_time_
private

Definition at line 86 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::deceleration_
private

Definition at line 72 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::final_pos_
private

Definition at line 82 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::initial_pos_
private

Definition at line 75 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::max_velocity_
private

Definition at line 73 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_accel_section_
private

Definition at line 60 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_const_section_
private

Definition at line 63 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_decel_section_
private

Definition at line 66 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::time_variables_
private

Definition at line 69 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::total_time_
private

Definition at line 90 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_accel_section_
private

Definition at line 61 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_const_section_
private

Definition at line 64 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_decel_section_
private

Definition at line 67 of file simple_trapezoidal_velocity_profile.h.


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


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Mar 23 2018 02:17:46