robotis_framework::SimpleTrapezoidalVelocityProfile Class Reference

#include <simple_trapezoidal_velocity_profile.h>

Public Member Functions
double	getAcceleration (double time)
double	getAcceleration ()
double	getConstantVelocitySectionStartTime ()
double	getDecelerationSectionStartTime ()
double	getPosition (double time)
double	getPosition ()
double	getTotalTime ()
double	getVelocity (double time)
double	getVelocity ()
void	setTime (double time)
void	setTimeBaseTrajectory (double init_pos, double final_pos, double accel_time, double total_time)
void	setTimeBaseTrajectory (double init_pos, double final_pos, double accel_time, double decel_time, double total_time)
void	setVelocityBaseTrajectory (double init_pos, double final_pos, double acceleration, double max_velocity)
void	setVelocityBaseTrajectory (double init_pos, double final_pos, double acceleration, double deceleration, double max_velocity)
	SimpleTrapezoidalVelocityProfile ()
	~SimpleTrapezoidalVelocityProfile ()

Private Attributes
double	accel_time_
double	acceleration_
double	const_start_time_
double	const_time_
double	current_acc_
double	current_pos_
double	current_time_
double	current_vel_
double	decel_start_time_
double	decel_time_
double	deceleration_
double	final_pos_
double	initial_pos_
double	max_velocity_
Eigen::MatrixXd	pos_coeff_accel_section_
Eigen::MatrixXd	pos_coeff_const_section_
Eigen::MatrixXd	pos_coeff_decel_section_
Eigen::MatrixXd	time_variables_
double	total_time_
Eigen::MatrixXd	vel_coeff_accel_section_
Eigen::MatrixXd	vel_coeff_const_section_
Eigen::MatrixXd	vel_coeff_decel_section_

Detailed Description

Definition at line 35 of file simple_trapezoidal_velocity_profile.h.

Constructor & Destructor Documentation

SimpleTrapezoidalVelocityProfile::SimpleTrapezoidalVelocityProfile

(

)

Definition at line 29 of file simple_trapezoidal_velocity_profile.cpp.

SimpleTrapezoidalVelocityProfile::~SimpleTrapezoidalVelocityProfile

(

)

Definition at line 70 of file simple_trapezoidal_velocity_profile.cpp.

Member Function Documentation

double SimpleTrapezoidalVelocityProfile::getAcceleration

(

double

time

)

Definition at line 215 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getAcceleration

(

)

Definition at line 272 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getConstantVelocitySectionStartTime

(

)

Definition at line 282 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getDecelerationSectionStartTime

(

)

Definition at line 287 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getPosition

(

double

time

)

Definition at line 203 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getPosition

(

)

Definition at line 262 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getTotalTime

(

)

Definition at line 277 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getVelocity

(

double

time

)

Definition at line 209 of file simple_trapezoidal_velocity_profile.cpp.

double SimpleTrapezoidalVelocityProfile::getVelocity

(

)

Definition at line 267 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTime

(

double

time

)

Definition at line 221 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTimeBaseTrajectory	(	double	init_pos,
		double	final_pos,
		double	accel_time,
		double	total_time
	)

Definition at line 142 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setTimeBaseTrajectory	(	double	init_pos,
		double	final_pos,
		double	accel_time,
		double	decel_time,
		double	total_time
	)

Definition at line 147 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setVelocityBaseTrajectory	(	double	init_pos,
		double	final_pos,
		double	acceleration,
		double	max_velocity
	)

Definition at line 75 of file simple_trapezoidal_velocity_profile.cpp.

void SimpleTrapezoidalVelocityProfile::setVelocityBaseTrajectory	(	double	init_pos,
		double	final_pos,
		double	acceleration,
		double	deceleration,
		double	max_velocity
	)

Definition at line 80 of file simple_trapezoidal_velocity_profile.cpp.

Member Data Documentation

double robotis_framework::SimpleTrapezoidalVelocityProfile::accel_time_

private

Definition at line 84 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::acceleration_

private

Definition at line 71 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::const_start_time_

private

Definition at line 88 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::const_time_

private

Definition at line 85 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_acc_

private

Definition at line 80 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_pos_

private

Definition at line 78 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_time_

private

Definition at line 77 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::current_vel_

private

Definition at line 79 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::decel_start_time_

private

Definition at line 89 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::decel_time_

private

Definition at line 86 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::deceleration_

private

Definition at line 72 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::final_pos_

private

Definition at line 82 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::initial_pos_

private

Definition at line 75 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::max_velocity_

private

Definition at line 73 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_accel_section_

private

Definition at line 60 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_const_section_

private

Definition at line 63 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::pos_coeff_decel_section_

private

Definition at line 66 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::time_variables_

private

Definition at line 69 of file simple_trapezoidal_velocity_profile.h.

double robotis_framework::SimpleTrapezoidalVelocityProfile::total_time_

private

Definition at line 90 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_accel_section_

private

Definition at line 61 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_const_section_

private

Definition at line 64 of file simple_trapezoidal_velocity_profile.h.

Eigen::MatrixXd robotis_framework::SimpleTrapezoidalVelocityProfile::vel_coeff_decel_section_

private

Definition at line 67 of file simple_trapezoidal_velocity_profile.h.

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

• simple_trapezoidal_velocity_profile.h
• simple_trapezoidal_velocity_profile.cpp