KDL  1.4.0
Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
KDL::VelocityProfile_Dirac Class Reference

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...

#include <src/velocityprofile_dirac.hpp>

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Public Member Functions

void SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double duration)
 
virtual double Duration () const
 
virtual double Pos (double time) const
 
virtual double Vel (double time) const
 
virtual double Acc (double time) const
 
virtual void Write (std::ostream &os) const
 
virtual VelocityProfileClone () const
 
virtual ~VelocityProfile_Dirac ()
 

Static Public Member Functions

static VelocityProfileRead (std::istream &is)
 

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;

Constructor & Destructor Documentation

§ ~VelocityProfile_Dirac()

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac ( )
inlinevirtual

Member Function Documentation

§ Acc()

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

Implements KDL::VelocityProfile.

§ Clone()

virtual VelocityProfile* KDL::VelocityProfile_Dirac::Clone ( ) const
inlinevirtual

Implements KDL::VelocityProfile.

References SetProfileDuration().

§ Duration()

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

Implements KDL::VelocityProfile.

References t.

§ Pos()

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

Implements KDL::VelocityProfile.

References p1, p2, and t.

§ Read()

VelocityProfile * KDL::VelocityProfile::Read ( std::istream &  is)
staticinherited

Referenced by KDL::Trajectory::Read().

§ SetProfile()

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

Implements KDL::VelocityProfile.

References p1, p2, SetProfileDuration(), and t.

Referenced by SetProfileDuration().

§ SetProfileDuration()

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

Implements KDL::VelocityProfile.

References SetProfile(), and t.

Referenced by Clone(), and SetProfile().

§ Vel()

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

Implements KDL::VelocityProfile.

References p1, p2, and t.

§ Write()

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

Implements KDL::VelocityProfile.

Member Data Documentation

§ p1

double KDL::VelocityProfile_Dirac::p1
private

Referenced by Pos(), SetProfile(), and Vel().

§ p2

double KDL::VelocityProfile_Dirac::p2
private

Referenced by Pos(), SetProfile(), and Vel().

§ t

double KDL::VelocityProfile_Dirac::t
private

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