A spline VelocityProfile trajectory interpolation.
More...
#include <src/velocityprofile_spline.hpp>
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| VelocityProfile_Spline () |
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| VelocityProfile_Spline (const VelocityProfile_Spline &p) |
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virtual | ~VelocityProfile_Spline () |
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virtual void | SetProfile (double pos1, double pos2) |
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virtual void | SetProfileDuration (double pos1, double pos2, double duration) |
| Generate linear interpolation coeffcients. More...
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virtual void | SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration) |
| Generate cubic spline interpolation coeffcients. More...
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virtual void | SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration) |
| Generate quintic spline interpolation coeffcients. More...
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virtual double | Duration () const |
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virtual double | Pos (double time) const |
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virtual double | Vel (double time) const |
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virtual double | Acc (double time) const |
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virtual void | Write (std::ostream &os) const |
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virtual VelocityProfile * | Clone () const |
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A spline VelocityProfile trajectory interpolation.
§ VelocityProfile_Spline() [1/2]
KDL::VelocityProfile_Spline::VelocityProfile_Spline |
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§ VelocityProfile_Spline() [2/2]
§ ~VelocityProfile_Spline()
KDL::VelocityProfile_Spline::~VelocityProfile_Spline |
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§ Acc()
double KDL::VelocityProfile_Spline::Acc |
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double |
time | ) |
const |
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virtual |
§ Clone()
§ Duration()
double KDL::VelocityProfile_Spline::Duration |
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const |
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§ Pos()
double KDL::VelocityProfile_Spline::Pos |
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double |
time | ) |
const |
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virtual |
§ Read()
§ SetProfile()
void KDL::VelocityProfile_Spline::SetProfile |
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double |
pos1, |
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double |
pos2 |
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) |
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virtual |
§ SetProfileDuration() [1/3]
void KDL::VelocityProfile_Spline::SetProfileDuration |
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double |
pos1, |
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double |
pos2, |
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double |
duration |
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) |
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virtual |
Generate linear interpolation coeffcients.
- Parameters
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pos1 | begin position. |
pos2 | end position. |
duration | duration of the profile. |
Implements KDL::VelocityProfile.
References coeff_, and duration_.
§ SetProfileDuration() [2/3]
void KDL::VelocityProfile_Spline::SetProfileDuration |
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double |
pos1, |
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double |
vel1, |
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double |
pos2, |
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double |
vel2, |
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double |
duration |
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virtual |
Generate cubic spline interpolation coeffcients.
- Parameters
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pos1 | begin position. |
vel1 | begin velocity. |
pos2 | end position. |
vel2 | end velocity. |
duration | duration of the profile. |
References coeff_, duration_, and KDL::generatePowers().
§ SetProfileDuration() [3/3]
void KDL::VelocityProfile_Spline::SetProfileDuration |
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double |
pos1, |
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double |
vel1, |
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double |
acc1, |
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double |
pos2, |
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double |
vel2, |
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double |
acc2, |
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double |
duration |
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) |
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virtual |
Generate quintic spline interpolation coeffcients.
- Parameters
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pos1 | begin position. |
vel1 | begin velocity. |
acc1 | begin acceleration |
pos2 | end position. |
vel2 | end velocity. |
acc2 | end acceleration. |
duration | duration of the profile. |
References coeff_, duration_, and KDL::generatePowers().
§ Vel()
double KDL::VelocityProfile_Spline::Vel |
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double |
time | ) |
const |
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virtual |
§ Write()
void KDL::VelocityProfile_Spline::Write |
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std::ostream & |
os | ) |
const |
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virtual |
§ coeff_
double KDL::VelocityProfile_Spline::coeff_[6] |
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private |
§ duration_
double KDL::VelocityProfile_Spline::duration_ |
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private |
The documentation for this class was generated from the following files: