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

A spline VelocityProfile trajectory interpolation. More...

#include <src/velocityprofile_spline.hpp>

Inheritance diagram for KDL::VelocityProfile_Spline:
Inheritance graph
[legend]
Collaboration diagram for KDL::VelocityProfile_Spline:
Collaboration graph
[legend]

Public Member Functions

 VelocityProfile_Spline ()
 
 VelocityProfile_Spline (const VelocityProfile_Spline &p)
 
virtual ~VelocityProfile_Spline ()
 
virtual void SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double duration)
 Generate linear interpolation coeffcients. More...
 
virtual void SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration)
 Generate cubic spline interpolation coeffcients. More...
 
virtual void SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration)
 Generate quintic spline interpolation coeffcients. More...
 
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
 

Static Public Member Functions

static VelocityProfileRead (std::istream &is)
 

Private Attributes

double coeff_ [6]
 
double duration_
 

Detailed Description

A spline VelocityProfile trajectory interpolation.

Constructor & Destructor Documentation

§ VelocityProfile_Spline() [1/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline ( )

References coeff_, and duration_.

Referenced by Clone().

§ VelocityProfile_Spline() [2/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline ( const VelocityProfile_Spline p)

References coeff_, and duration_.

§ ~VelocityProfile_Spline()

KDL::VelocityProfile_Spline::~VelocityProfile_Spline ( )
virtual

Member Function Documentation

§ Acc()

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

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

§ Clone()

VelocityProfile * KDL::VelocityProfile_Spline::Clone ( ) const
virtual

§ Duration()

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

Implements KDL::VelocityProfile.

References duration_.

§ Pos()

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

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

§ Read()

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

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

§ SetProfile()

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

Implements KDL::VelocityProfile.

§ SetProfileDuration() [1/3]

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

Generate linear interpolation coeffcients.

Parameters
pos1begin position.
pos2end position.
durationduration of the profile.

Implements KDL::VelocityProfile.

References coeff_, and duration_.

§ SetProfileDuration() [2/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double  pos1,
double  vel1,
double  pos2,
double  vel2,
double  duration 
)
virtual

Generate cubic spline interpolation coeffcients.

Parameters
pos1begin position.
vel1begin velocity.
pos2end position.
vel2end velocity.
durationduration of the profile.

References coeff_, duration_, and KDL::generatePowers().

§ SetProfileDuration() [3/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double  pos1,
double  vel1,
double  acc1,
double  pos2,
double  vel2,
double  acc2,
double  duration 
)
virtual

Generate quintic spline interpolation coeffcients.

Parameters
pos1begin position.
vel1begin velocity.
acc1begin acceleration
pos2end position.
vel2end velocity.
acc2end acceleration.
durationduration of the profile.

References coeff_, duration_, and KDL::generatePowers().

§ Vel()

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

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

§ Write()

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

Implements KDL::VelocityProfile.

References coeff_.

Member Data Documentation

§ coeff_

double KDL::VelocityProfile_Spline::coeff_[6]
private

§ duration_

double KDL::VelocityProfile_Spline::duration_
private

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