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

A rectangular VelocityProfile generates a constant velocity for moving from A to B. More...

#include <src/velocityprofile_rect.hpp>

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Public Member Functions

 VelocityProfile_Rectangular (double _maxvel=0)
 
void SetMax (double _maxvel)
 
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_Rectangular ()
 

Static Public Member Functions

static VelocityProfileRead (std::istream &is)
 

Public Attributes

double maxvel
 

Private Attributes

double d
 
double p
 
double v
 

Detailed Description

A rectangular VelocityProfile generates a constant velocity for moving from A to B.

Constructor & Destructor Documentation

§ VelocityProfile_Rectangular()

KDL::VelocityProfile_Rectangular::VelocityProfile_Rectangular ( double  _maxvel = 0)
inline

§ ~VelocityProfile_Rectangular()

virtual KDL::VelocityProfile_Rectangular::~VelocityProfile_Rectangular ( )
inlinevirtual

Member Function Documentation

§ Acc()

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

§ Clone()

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

§ Duration()

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

Implements KDL::VelocityProfile.

References d.

Referenced by VelocityProfile_Rectangular().

§ Pos()

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

Implements KDL::VelocityProfile.

References d, p, and v.

Referenced by VelocityProfile_Rectangular().

§ Read()

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

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

§ SetMax()

void KDL::VelocityProfile_Rectangular::SetMax ( double  _maxvel)

§ SetProfile()

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

Implements KDL::VelocityProfile.

References d, KDL::diff(), maxvel, p, and v.

Referenced by VelocityProfile_Rectangular().

§ SetProfileDuration()

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

Implements KDL::VelocityProfile.

References d, KDL::diff(), maxvel, p, and v.

Referenced by Clone(), SetMax(), and VelocityProfile_Rectangular().

§ Vel()

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

Implements KDL::VelocityProfile.

References d, and v.

Referenced by VelocityProfile_Rectangular().

§ Write()

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

Implements KDL::VelocityProfile.

References maxvel.

Referenced by VelocityProfile_Rectangular().

Member Data Documentation

§ d

double KDL::VelocityProfile_Rectangular::d
private

§ maxvel

double KDL::VelocityProfile_Rectangular::maxvel

§ p

double KDL::VelocityProfile_Rectangular::p
private

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

§ v

double KDL::VelocityProfile_Rectangular::v
private

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