Public Member Functions | Private Attributes
KDL::VelocityProfile_Spline Class Reference

A spline VelocityProfile trajectory interpolation. More...

#include <velocityprofile_spline.hpp>

Inheritance diagram for KDL::VelocityProfile_Spline:
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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 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 ()

Private Attributes

double coeff_ [6]
double duration_

Detailed Description

A spline VelocityProfile trajectory interpolation.

Definition at line 12 of file velocityprofile_spline.hpp.


Constructor & Destructor Documentation

Definition at line 18 of file velocityprofile_spline.cpp.

Definition at line 32 of file velocityprofile_spline.cpp.

Definition at line 46 of file velocityprofile_spline.cpp.


Member Function Documentation

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

Implements KDL::VelocityProfile.

Definition at line 170 of file velocityprofile_spline.cpp.

Implements KDL::VelocityProfile.

Definition at line 189 of file velocityprofile_spline.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 136 of file velocityprofile_spline.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 141 of file velocityprofile_spline.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_spline.cpp.

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

Generate linear interpolation coeffcients.

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

Implements KDL::VelocityProfile.

Definition at line 56 of file velocityprofile_spline.cpp.

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

Generate cubic spline interpolation coeffcients.

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

Definition at line 80 of file velocityprofile_spline.cpp.

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

Generate quintic spline interpolation coeffcients.

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.

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

Implements KDL::VelocityProfile.

Definition at line 156 of file velocityprofile_spline.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 183 of file velocityprofile_spline.cpp.


Member Data Documentation

Definition at line 63 of file velocityprofile_spline.hpp.

Definition at line 64 of file velocityprofile_spline.hpp.


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


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26