velocityprofile_spline.hpp
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1 #ifndef VELOCITYPROFILE_SPLINE_H
2 #define VELOCITYPROFILE_SPLINE_H
3 
4 #include "velocityprofile.hpp"
5 
6 namespace KDL
7 {
13 {
14 public:
17 
18  virtual ~VelocityProfile_Spline();
19 
20  virtual void SetProfile(double pos1, double pos2);
28  virtual void SetProfileDuration(
29  double pos1, double pos2, double duration);
30 
40  virtual void SetProfileDuration(
41  double pos1, double vel1, double pos2, double vel2, double duration);
42 
54  virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration);
55  virtual double Duration() const;
56  virtual double Pos(double time) const;
57  virtual double Vel(double time) const;
58  virtual double Acc(double time) const;
59  virtual void Write(std::ostream& os) const;
60  virtual VelocityProfile* Clone() const;
61 private:
62 
63  double coeff_[6];
64  double duration_;
65 };
66 }
67 #endif // VELOCITYPROFILE_CUBICSPLINE_H
virtual double Vel(double time) const
A spline VelocityProfile trajectory interpolation.
virtual double Pos(double time) const
virtual VelocityProfile * Clone() const
virtual void Write(std::ostream &os) const
virtual void SetProfileDuration(double pos1, double pos2, double duration)
virtual void SetProfile(double pos1, double pos2)
virtual double Acc(double time) const


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