KDL
1.4.0
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A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...
#include <src/velocityprofile_dirac.hpp>
Public Member Functions | |
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 VelocityProfile * | Clone () const |
virtual | ~VelocityProfile_Dirac () |
Static Public Member Functions | |
static VelocityProfile * | Read (std::istream &is) |
Private Attributes | |
double | p1 |
double | p2 |
double | t |
A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time.
In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.
However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;
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inlinevirtual |
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virtual |
Implements KDL::VelocityProfile.
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inlinevirtual |
Implements KDL::VelocityProfile.
References SetProfileDuration().
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virtual |
Implements KDL::VelocityProfile.
References t.
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virtual |
Implements KDL::VelocityProfile.
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staticinherited |
Referenced by KDL::Trajectory::Read().
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virtual |
Implements KDL::VelocityProfile.
References p1, p2, SetProfileDuration(), and t.
Referenced by SetProfileDuration().
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virtual |
Implements KDL::VelocityProfile.
References SetProfile(), and t.
Referenced by Clone(), and SetProfile().
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virtual |
Implements KDL::VelocityProfile.
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virtual |
Implements KDL::VelocityProfile.
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private |
Referenced by Pos(), SetProfile(), and Vel().
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private |
Referenced by Pos(), SetProfile(), and Vel().
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private |
Referenced by Duration(), Pos(), SetProfile(), SetProfileDuration(), and Vel().