velocityprofile_rect.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_rect.h
3 
4  velocityprofile_rect.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 Erwin Aertbelien
8  email : erwin.aertbelien@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 /*****************************************************************************
30  * \author
31  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32  *
33  * \version
34  * ORO_Geometry V0.2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: velocityprofile_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef MOTIONPROFILE_RECT_H
45 #define MOTIONPROFILE_RECT_H
46 
47 #include "velocityprofile.hpp"
48 
49 
50 namespace KDL {
57  // Defines a rectangular velocityprofile.
58  // (i.e. constant velocity)
59  {
60  double d,p,v;
61  public:
62  double maxvel;
63 
64  VelocityProfile_Rectangular(double _maxvel=0):
65  maxvel(_maxvel) {}
66  // constructs motion profile class with <maxvel> as parameter of the
67  // trajectory.
68 
69  void SetMax( double _maxvel );
70  void SetProfile(double pos1,double pos2);
71  virtual void SetProfileDuration(
72  double pos1,double pos2,double duration);
73  virtual double Duration() const;
74  virtual double Pos(double time) const;
75  virtual double Vel(double time) const;
76  virtual double Acc(double time) const;
77  virtual void Write(std::ostream& os) const;
78  virtual VelocityProfile* Clone() const{
80  res->SetProfileDuration( p, p+v*d, d );
81  return res;
82  }
83  // returns copy of current VelocityProfile object. (virtual constructor)
85  };
86 
87 }
88 
89 
90 #endif
void SetProfile(double pos1, double pos2)
virtual VelocityProfile * Clone() const
virtual void Write(std::ostream &os) const
virtual double Acc(double time) const
virtual void SetProfileDuration(double pos1, double pos2, double duration)
virtual double Vel(double time) const
virtual double Pos(double time) const


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51