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

#include <velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:
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
 
void SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double duration)
 
virtual double Vel (double time) const
 
virtual void Write (std::ostream &os) const
 
virtual ~VelocityProfile_Dirac ()
 
- Public Member Functions inherited from KDL::VelocityProfile
virtual ~VelocityProfile ()
 

Private Attributes

double p1
 
double p2
 
double t
 

Additional Inherited Members

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

Detailed Description

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.

However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;

Definition at line 48 of file velocityprofile_dirac.hpp.

Constructor & Destructor Documentation

◆ ~VelocityProfile_Dirac()

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac ( )
inlinevirtual

Definition at line 65 of file velocityprofile_dirac.hpp.

Member Function Documentation

◆ Acc()

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

Implements KDL::VelocityProfile.

Definition at line 78 of file velocityprofile_dirac.cpp.

◆ Clone()

virtual VelocityProfile* KDL::VelocityProfile_Dirac::Clone ( ) const
inlinevirtual

Implements KDL::VelocityProfile.

Definition at line 59 of file velocityprofile_dirac.hpp.

◆ Duration()

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

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_dirac.cpp.

◆ Pos()

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

Implements KDL::VelocityProfile.

Definition at line 55 of file velocityprofile_dirac.cpp.

◆ SetProfile()

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

Implements KDL::VelocityProfile.

Definition at line 34 of file velocityprofile_dirac.cpp.

◆ SetProfileDuration()

void KDL::VelocityProfile_Dirac::SetProfileDuration ( double  pos1,
double  pos2,
double  duration 
)
virtual

Implements KDL::VelocityProfile.

Definition at line 45 of file velocityprofile_dirac.cpp.

◆ Vel()

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

Implements KDL::VelocityProfile.

Definition at line 67 of file velocityprofile_dirac.cpp.

◆ Write()

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

Implements KDL::VelocityProfile.

Definition at line 84 of file velocityprofile_dirac.cpp.

Member Data Documentation

◆ p1

double KDL::VelocityProfile_Dirac::p1
private

Definition at line 50 of file velocityprofile_dirac.hpp.

◆ p2

double KDL::VelocityProfile_Dirac::p2
private

Definition at line 50 of file velocityprofile_dirac.hpp.

◆ t

double KDL::VelocityProfile_Dirac::t
private

Definition at line 50 of file velocityprofile_dirac.hpp.


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


orocos_kdl
Author(s):
autogenerated on Sat Jun 15 2019 19:18:32