A Trapezoidal VelocityProfile implementation.
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#include <src/velocityprofile_trap.hpp>
A Trapezoidal VelocityProfile implementation.
§ VelocityProfile_Trap()
KDL::VelocityProfile_Trap::VelocityProfile_Trap |
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double |
_maxvel = 0 , |
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double |
_maxacc = 0 |
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) |
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§ ~VelocityProfile_Trap()
KDL::VelocityProfile_Trap::~VelocityProfile_Trap |
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virtual |
§ Acc()
double KDL::VelocityProfile_Trap::Acc |
( |
double |
time | ) |
const |
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virtual |
§ Clone()
§ Duration()
double KDL::VelocityProfile_Trap::Duration |
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const |
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virtual |
§ Pos()
double KDL::VelocityProfile_Trap::Pos |
( |
double |
time | ) |
const |
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virtual |
Implements KDL::VelocityProfile.
References a1, a2, a3, b1, b2, b3, c1, c2, c3, duration, endpos, startpos, t1, and t2.
§ Read()
§ SetMax()
void KDL::VelocityProfile_Trap::SetMax |
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double |
_maxvel, |
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double |
_maxacc |
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) |
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virtual |
§ SetProfile()
void KDL::VelocityProfile_Trap::SetProfile |
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double |
pos1, |
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double |
pos2 |
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) |
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virtual |
Implements KDL::VelocityProfile.
References a1, a2, a3, b1, b2, b3, c1, c2, c3, duration, endpos, maxacc, maxvel, startpos, t1, and t2.
Referenced by SetProfileDuration(), and SetProfileVelocity().
§ SetProfileDuration()
void KDL::VelocityProfile_Trap::SetProfileDuration |
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double |
pos1, |
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double |
pos2, |
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double |
newduration |
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) |
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virtual |
§ SetProfileVelocity()
void KDL::VelocityProfile_Trap::SetProfileVelocity |
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double |
pos1, |
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double |
pos2, |
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double |
newvelocity |
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) |
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virtual |
Compute trapezoidal profile at a given fraction of max velocity.
- Parameters
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pos1 | Position to start from |
pos2 | Position to end at |
newvelocity | Fraction of max velocity to use during the non-ramp, flat-velocity part of the profile. |
KDL::epsilon | <= newvelocity <= 1.0 (forcibly clamped to this range internally) |
References a2, a3, b2, b3, c2, c3, duration, SetProfile(), t1, and t2.
§ Vel()
double KDL::VelocityProfile_Trap::Vel |
( |
double |
time | ) |
const |
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virtual |
§ Write()
void KDL::VelocityProfile_Trap::Write |
( |
std::ostream & |
os | ) |
const |
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virtual |
§ a1
double KDL::VelocityProfile_Trap::a1 |
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private |
§ a2
double KDL::VelocityProfile_Trap::a2 |
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private |
§ a3
double KDL::VelocityProfile_Trap::a3 |
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private |
§ b1
double KDL::VelocityProfile_Trap::b1 |
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private |
§ b2
double KDL::VelocityProfile_Trap::b2 |
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private |
§ b3
double KDL::VelocityProfile_Trap::b3 |
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private |
§ c1
double KDL::VelocityProfile_Trap::c1 |
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private |
§ c2
double KDL::VelocityProfile_Trap::c2 |
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private |
§ c3
double KDL::VelocityProfile_Trap::c3 |
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private |
§ duration
double KDL::VelocityProfile_Trap::duration |
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private |
§ endpos
double KDL::VelocityProfile_Trap::endpos |
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private |
§ maxacc
double KDL::VelocityProfile_Trap::maxacc |
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private |
§ maxvel
double KDL::VelocityProfile_Trap::maxvel |
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private |
§ startpos
double KDL::VelocityProfile_Trap::startpos |
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private |
§ t1
double KDL::VelocityProfile_Trap::t1 |
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private |
§ t2
double KDL::VelocityProfile_Trap::t2 |
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private |
The documentation for this class was generated from the following files: