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44 #ifndef MOTIONPROFILE_RECT_H
45 #define MOTIONPROFILE_RECT_H
56 class VelocityProfile_Rectangular :
public VelocityProfile
69 void SetMax(
double _maxvel );
72 double pos1,
double pos2,
double duration);
74 virtual double Pos(
double time)
const;
75 virtual double Vel(
double time)
const;
76 virtual double Acc(
double time)
const;
77 virtual void Write(std::ostream& os)
const;
78 virtual VelocityProfile*
Clone()
const{
80 res->SetProfileDuration(
p,
p+
v*
d,
d );
double v
Definition: velocityprofile_rect.hpp:136
virtual VelocityProfile * Clone() const
Definition: velocityprofile_rect.hpp:154
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition: velocityprofile_rect.cpp:115
virtual ~VelocityProfile_Rectangular()
Definition: velocityprofile_rect.hpp:160
virtual double Acc(double time) const
Definition: velocityprofile_rect.cpp:159
void SetMax(double _maxvel)
Definition: velocityprofile_rect.cpp:108
Definition: articulatedbodyinertia.cpp:28
virtual double Pos(double time) const
Definition: velocityprofile_rect.cpp:139
virtual double Vel(double time) const
Definition: velocityprofile_rect.cpp:149
double maxvel
Definition: velocityprofile_rect.hpp:138
double p
Definition: velocityprofile_rect.hpp:136
virtual void Write(std::ostream &os) const
Definition: velocityprofile_rect.cpp:165
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
determines the difference of vector b with vector a.
virtual double Duration() const
Definition: velocityprofile_rect.cpp:135
double d
Definition: velocityprofile_rect.hpp:136
VelocityProfile_Rectangular(double _maxvel=0)
Definition: velocityprofile_rect.hpp:140
void SetProfile(double pos1, double pos2)
Definition: velocityprofile_rect.cpp:87