KDL
1.4.0
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A VelocityProfile stores the velocity profile that is used within a trajectory. More...
#include <src/velocityprofile.hpp>
Public Member Functions | |
virtual void | SetProfile (double pos1, double pos2)=0 |
virtual void | SetProfileDuration (double pos1, double pos2, double duration)=0 |
virtual double | Duration () const =0 |
virtual double | Pos (double time) const =0 |
virtual double | Vel (double time) const =0 |
virtual double | Acc (double time) const =0 |
virtual void | Write (std::ostream &os) const =0 |
virtual VelocityProfile * | Clone () const =0 |
virtual | ~VelocityProfile () |
Static Public Member Functions | |
static VelocityProfile * | Read (std::istream &is) |
A VelocityProfile stores the velocity profile that is used within a trajectory.
A velocity profile is the function that expresses position, velocity and acceleration of a point on a curve in function of time. It defines the how a point s moves on a path S.
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inlinevirtual |
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pure virtual |
Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.
Referenced by KDL::Trajectory_Segment::Acc().
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pure virtual |
Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.
Referenced by KDL::Trajectory_Segment::Clone().
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pure virtual |
Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.
Referenced by KDL::Trajectory_Segment::Duration().
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pure virtual |
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static |
Referenced by KDL::Trajectory::Read().
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pure virtual |
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pure virtual |
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pure virtual |
Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.
Referenced by KDL::Trajectory_Segment::Acc(), and KDL::Trajectory_Segment::Vel().
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pure virtual |
Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Spline, and KDL::VelocityProfile_Dirac.
Referenced by KDL::Trajectory_Segment::Write().