KDL  1.4.0
velocityprofile_dirac.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
3 
4  velocityprofile_dirac.h - description
5  -------------------
6  begin : Fri February 11 2005
7  copyright : (C) 2005 Peter Soetens
8  email : peter.soetens@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 
29 #ifndef MOTIONPROFILE_DIRAC_H
30 #define MOTIONPROFILE_DIRAC_H
31 
32 #include "velocityprofile.hpp"
33 
34 
35 namespace KDL {
49  {
50  double p1,p2,t;
51  public:
52  void SetProfile(double pos1,double pos2);
53  virtual void SetProfileDuration(double pos1,double pos2,double duration);
54  virtual double Duration() const;
55  virtual double Pos(double time) const;
56  virtual double Vel(double time) const;
57  virtual double Acc(double time) const;
58  virtual void Write(std::ostream& os) const;
59  virtual VelocityProfile* Clone() const {
61  res->SetProfileDuration( p1, p2, t );
62  return res;
63  }
64 
66  };
67 
68 }
69 
70 
71 #endif
double p1
Definition: velocityprofile_dirac.hpp:50
virtual void Write(std::ostream &os) const
Definition: velocityprofile_dirac.cpp:79
virtual double Duration() const
Definition: velocityprofile_dirac.cpp:51
double t
Definition: velocityprofile_dirac.hpp:50
void SetProfile(double pos1, double pos2)
Definition: velocityprofile_dirac.cpp:34
virtual double Vel(double time) const
Definition: velocityprofile_dirac.cpp:62
virtual double Pos(double time) const
Definition: velocityprofile_dirac.cpp:55
virtual double Acc(double time) const
Definition: velocityprofile_dirac.cpp:73
Definition: articulatedbodyinertia.cpp:28
virtual ~VelocityProfile_Dirac()
Definition: velocityprofile_dirac.hpp:65
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition: velocityprofile_dirac.cpp:45
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
virtual VelocityProfile * Clone() const
Definition: velocityprofile_dirac.hpp:59
A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in i...
Definition: velocityprofile_dirac.hpp:48
double p2
Definition: velocityprofile_dirac.hpp:50