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KDL::VelocityProfile_Trap Class Reference
[Motion]

#include <velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual double Acc (double time) const
virtual VelocityProfileClone () const
virtual double Duration () const
virtual double Pos (double time) const
virtual void SetMax (double _maxvel, double _maxacc)
virtual void SetProfile (double pos1, double pos2)
virtual void SetProfileDuration (double pos1, double pos2, double newduration)
virtual double Vel (double time) const
 VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)
virtual void Write (std::ostream &os) const
virtual ~VelocityProfile_Trap ()

Private Attributes

double a1
double a2
double a3
double b1
double b2
double b3
double c1
double c2
double c3
double duration
double endpos
double maxacc
double maxvel
double startpos
double t1
double t2

Detailed Description

A Trapezoidal VelocityProfile implementation.

Definition at line 60 of file velocityprofile_trap.hpp.


Constructor & Destructor Documentation

KDL::VelocityProfile_Trap::VelocityProfile_Trap ( double  _maxvel = 0,
double  _maxacc = 0 
)

Definition at line 49 of file velocityprofile_trap.cpp.

KDL::VelocityProfile_Trap::~VelocityProfile_Trap (  )  [virtual]

Definition at line 167 of file velocityprofile_trap.cpp.


Member Function Documentation

double KDL::VelocityProfile_Trap::Acc ( double  time  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 147 of file velocityprofile_trap.cpp.

VelocityProfile * KDL::VelocityProfile_Trap::Clone (  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 161 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Duration (  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 116 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Pos ( double  time  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 120 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetMax ( double  _maxvel,
double  _maxacc 
) [virtual]

Definition at line 111 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfile ( double  pos1,
double  pos2 
) [virtual]

Implements KDL::VelocityProfile.

Definition at line 61 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::SetProfileDuration ( double  pos1,
double  pos2,
double  newduration 
) [virtual]

Implements KDL::VelocityProfile.

Definition at line 91 of file velocityprofile_trap.cpp.

double KDL::VelocityProfile_Trap::Vel ( double  time  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 133 of file velocityprofile_trap.cpp.

void KDL::VelocityProfile_Trap::Write ( std::ostream &  os  )  const [virtual]

Implements KDL::VelocityProfile.

Definition at line 170 of file velocityprofile_trap.cpp.


Member Data Documentation

Definition at line 63 of file velocityprofile_trap.hpp.

Definition at line 63 of file velocityprofile_trap.hpp.

Definition at line 63 of file velocityprofile_trap.hpp.

Definition at line 64 of file velocityprofile_trap.hpp.

Definition at line 64 of file velocityprofile_trap.hpp.

Definition at line 64 of file velocityprofile_trap.hpp.

Definition at line 65 of file velocityprofile_trap.hpp.

Definition at line 65 of file velocityprofile_trap.hpp.

Definition at line 65 of file velocityprofile_trap.hpp.

Definition at line 66 of file velocityprofile_trap.hpp.

Definition at line 73 of file velocityprofile_trap.hpp.

Definition at line 71 of file velocityprofile_trap.hpp.

Definition at line 70 of file velocityprofile_trap.hpp.

Definition at line 72 of file velocityprofile_trap.hpp.

Definition at line 67 of file velocityprofile_trap.hpp.

Definition at line 67 of file velocityprofile_trap.hpp.


The documentation for this class was generated from the following files:
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:18 2013