1 #ifndef VELOCITYPROFILE_SPLINE_H 2 #define VELOCITYPROFILE_SPLINE_H 20 virtual void SetProfile(
double pos1,
double pos2);
29 double pos1,
double pos2,
double duration);
41 double pos1,
double vel1,
double pos2,
double vel2,
double duration);
54 virtual void SetProfileDuration(
double pos1,
double vel1,
double acc1,
double pos2,
double vel2,
double acc2,
double duration);
56 virtual double Pos(
double time)
const;
57 virtual double Vel(
double time)
const;
58 virtual double Acc(
double time)
const;
59 virtual void Write(std::ostream& os)
const;
67 #endif // VELOCITYPROFILE_CUBICSPLINE_H virtual ~VelocityProfile_Spline()
Definition: velocityprofile_spline.cpp:46
VelocityProfile_Spline()
Definition: velocityprofile_spline.cpp:18
virtual double Vel(double time) const
Definition: velocityprofile_spline.cpp:157
A spline VelocityProfile trajectory interpolation.
Definition: velocityprofile_spline.hpp:12
virtual double Pos(double time) const
Definition: velocityprofile_spline.cpp:142
virtual VelocityProfile * Clone() const
Definition: velocityprofile_spline.cpp:190
Definition: articulatedbodyinertia.cpp:28
virtual void Write(std::ostream &os) const
Definition: velocityprofile_spline.cpp:184
virtual double Duration() const
Definition: velocityprofile_spline.cpp:137
double coeff_[6]
Definition: velocityprofile_spline.hpp:63
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Generate linear interpolation coeffcients.
Definition: velocityprofile_spline.cpp:56
double duration_
Definition: velocityprofile_spline.hpp:64
virtual void SetProfile(double pos1, double pos2)
Definition: velocityprofile_spline.cpp:51
virtual double Acc(double time) const
Definition: velocityprofile_spline.cpp:171