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

A spline VelocityProfile trajectory interpolation. More...

#include <velocityprofile_spline.hpp>

Inheritance diagram for KDL::VelocityProfile_Spline:
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 SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double duration)
 
virtual void SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration)
 
virtual void SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration)
 
virtual double Vel (double time) const
 
 VelocityProfile_Spline ()
 
 VelocityProfile_Spline (const VelocityProfile_Spline &p)
 
virtual void Write (std::ostream &os) const
 
virtual ~VelocityProfile_Spline ()
 
- Public Member Functions inherited from KDL::VelocityProfile
virtual ~VelocityProfile ()
 

Private Attributes

double coeff_ [6]
 
double duration_
 

Additional Inherited Members

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

Detailed Description

A spline VelocityProfile trajectory interpolation.

Definition at line 12 of file velocityprofile_spline.hpp.

Constructor & Destructor Documentation

◆ VelocityProfile_Spline() [1/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline ( )

Definition at line 18 of file velocityprofile_spline.cpp.

◆ VelocityProfile_Spline() [2/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline ( const VelocityProfile_Spline p)

Definition at line 32 of file velocityprofile_spline.cpp.

◆ ~VelocityProfile_Spline()

KDL::VelocityProfile_Spline::~VelocityProfile_Spline ( )
virtual

Definition at line 46 of file velocityprofile_spline.cpp.

Member Function Documentation

◆ Acc()

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

Implements KDL::VelocityProfile.

Definition at line 171 of file velocityprofile_spline.cpp.

◆ Clone()

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

Implements KDL::VelocityProfile.

Definition at line 190 of file velocityprofile_spline.cpp.

◆ Duration()

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

Implements KDL::VelocityProfile.

Definition at line 137 of file velocityprofile_spline.cpp.

◆ Pos()

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

Implements KDL::VelocityProfile.

Definition at line 142 of file velocityprofile_spline.cpp.

◆ SetProfile()

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

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_spline.cpp.

◆ SetProfileDuration() [1/3]

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

Generate linear interpolation coefficients.

Parameters
pos1begin position.
pos2end position.
durationduration of the profile.

Implements KDL::VelocityProfile.

Definition at line 56 of file velocityprofile_spline.cpp.

◆ SetProfileDuration() [2/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double  pos1,
double  vel1,
double  pos2,
double  vel2,
double  duration 
)
virtual

Generate cubic spline interpolation coefficients.

Parameters
pos1begin position.
vel1begin velocity.
pos2end position.
vel2end velocity.
durationduration of the profile.

Definition at line 80 of file velocityprofile_spline.cpp.

◆ SetProfileDuration() [3/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double  pos1,
double  vel1,
double  acc1,
double  pos2,
double  vel2,
double  acc2,
double  duration 
)
virtual

Generate quintic spline interpolation coefficients.

Parameters
pos1begin position.
vel1begin velocity.
acc1begin acceleration
pos2end position.
vel2end velocity.
acc2end acceleration.
durationduration of the profile.

Definition at line 107 of file velocityprofile_spline.cpp.

◆ Vel()

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

Implements KDL::VelocityProfile.

Definition at line 157 of file velocityprofile_spline.cpp.

◆ Write()

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

Implements KDL::VelocityProfile.

Definition at line 184 of file velocityprofile_spline.cpp.

Member Data Documentation

◆ coeff_

double KDL::VelocityProfile_Spline::coeff_[6]
private

Definition at line 63 of file velocityprofile_spline.hpp.

◆ duration_

double KDL::VelocityProfile_Spline::duration_
private

Definition at line 64 of file velocityprofile_spline.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