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

#include <velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:
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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
void SetProfile (double pos1, double pos2)
virtual void SetProfileDuration (double pos1, double pos2, double duration)
virtual double Vel (double time) const
virtual void Write (std::ostream &os) const
virtual ~VelocityProfile_Dirac ()

Private Attributes

double p1
double p2
double t

Detailed Description

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.

However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;

Definition at line 48 of file velocityprofile_dirac.hpp.


Constructor & Destructor Documentation

Definition at line 65 of file velocityprofile_dirac.hpp.


Member Function Documentation

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

Implements KDL::VelocityProfile.

Definition at line 78 of file velocityprofile_dirac.cpp.

virtual VelocityProfile* KDL::VelocityProfile_Dirac::Clone ( ) const [inline, virtual]

Implements KDL::VelocityProfile.

Definition at line 59 of file velocityprofile_dirac.hpp.

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

Implements KDL::VelocityProfile.

Definition at line 51 of file velocityprofile_dirac.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 55 of file velocityprofile_dirac.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 34 of file velocityprofile_dirac.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 45 of file velocityprofile_dirac.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 67 of file velocityprofile_dirac.cpp.

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

Implements KDL::VelocityProfile.

Definition at line 84 of file velocityprofile_dirac.cpp.


Member Data Documentation

Definition at line 50 of file velocityprofile_dirac.hpp.

Definition at line 50 of file velocityprofile_dirac.hpp.

Definition at line 50 of file velocityprofile_dirac.hpp.


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


orocos_kdl
Author(s):
autogenerated on Fri Jun 14 2019 19:33:23