46 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 47 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 92 void SetMax(
double _maxvel,
double _maxacc,
bool _starting);
104 virtual void SetProfile(
double pos1,
double pos2);
118 double pos1,
double pos2,
double newduration
122 virtual double Pos(
double time)
const;
123 virtual double Vel(
double time)
const;
124 virtual double Acc(
double time)
const;
125 virtual void Write(std::ostream& os)
const;
double duration
Definition: velocityprofile_traphalf.hpp:69
double a2
Definition: velocityprofile_traphalf.hpp:66
double b3
Definition: velocityprofile_traphalf.hpp:67
double endpos
Definition: velocityprofile_traphalf.hpp:73
virtual double Pos(double time) const
Definition: velocityprofile_traphalf.cpp:144
double startpos
Definition: velocityprofile_traphalf.hpp:72
VelocityProfile_TrapHalf(double _maxvel=0, double _maxacc=0, bool _starting=true)
Definition: velocityprofile_traphalf.cpp:50
virtual VelocityProfile * Clone() const
Definition: velocityprofile_traphalf.cpp:185
virtual ~VelocityProfile_TrapHalf()
Definition: velocityprofile_traphalf.cpp:191
void PlanProfile2(double v, double a)
Definition: velocityprofile_traphalf.cpp:70
double c2
Definition: velocityprofile_traphalf.hpp:68
double a3
Definition: velocityprofile_traphalf.hpp:66
double a1
Definition: velocityprofile_traphalf.hpp:66
double c3
Definition: velocityprofile_traphalf.hpp:68
Definition: articulatedbodyinertia.cpp:28
double c1
Definition: velocityprofile_traphalf.hpp:68
virtual double Acc(double time) const
Definition: velocityprofile_traphalf.cpp:171
A 'Half' Trapezoidal VelocityProfile.
Definition: velocityprofile_traphalf.hpp:63
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
virtual void Write(std::ostream &os) const
Definition: velocityprofile_traphalf.cpp:194
double t2
Definition: velocityprofile_traphalf.hpp:70
virtual void SetProfile(double pos1, double pos2)
Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2.
Definition: velocityprofile_traphalf.cpp:82
double b1
Definition: velocityprofile_traphalf.hpp:67
double maxvel
Definition: velocityprofile_traphalf.hpp:76
double b2
Definition: velocityprofile_traphalf.hpp:67
void SetMax(double _maxvel, double _maxacc, bool _starting)
Definition: velocityprofile_traphalf.cpp:53
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
Can be used to prolong the profile, there are two possible outcomes: in a first phase the acceleratio...
Definition: velocityprofile_traphalf.cpp:100
bool starting
Definition: velocityprofile_traphalf.hpp:78
virtual double Vel(double time) const
Definition: velocityprofile_traphalf.cpp:157
virtual double Duration() const
Definition: velocityprofile_traphalf.cpp:140
double maxacc
Definition: velocityprofile_traphalf.hpp:77
void PlanProfile1(double v, double a)
Definition: velocityprofile_traphalf.cpp:58
double t1
Definition: velocityprofile_traphalf.hpp:70