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46 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
47 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
63 class VelocityProfile_TrapHalf :
public VelocityProfile
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;
126 virtual VelocityProfile*
Clone()
const;
virtual double Pos(double time) const
Definition: velocityprofile_traphalf.cpp:182
double duration
Definition: velocityprofile_traphalf.hpp:149
virtual void SetProfile(double pos1, double pos2)
Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2.
Definition: velocityprofile_traphalf.cpp:120
double b1
Definition: velocityprofile_traphalf.hpp:147
VelocityProfile_TrapHalf(double _maxvel=0, double _maxacc=0, bool _starting=true)
Definition: velocityprofile_traphalf.cpp:88
bool starting
Definition: velocityprofile_traphalf.hpp:158
double c1
Definition: velocityprofile_traphalf.hpp:148
virtual ~VelocityProfile_TrapHalf()
Definition: velocityprofile_traphalf.cpp:229
virtual double Acc(double time) const
Definition: velocityprofile_traphalf.cpp:209
virtual double Duration() const
Definition: velocityprofile_traphalf.cpp:178
virtual VelocityProfile * Clone() const
Definition: velocityprofile_traphalf.cpp:223
void SetMax(double _maxvel, double _maxacc, bool _starting)
Definition: velocityprofile_traphalf.cpp:91
Definition: articulatedbodyinertia.cpp:28
double a2
Definition: velocityprofile_traphalf.hpp:146
double endpos
Definition: velocityprofile_traphalf.hpp:153
virtual void Write(std::ostream &os) const
Definition: velocityprofile_traphalf.cpp:232
double maxvel
Definition: velocityprofile_traphalf.hpp:156
void PlanProfile1(double v, double a)
Definition: velocityprofile_traphalf.cpp:96
double startpos
Definition: velocityprofile_traphalf.hpp:152
void PlanProfile2(double v, double a)
Definition: velocityprofile_traphalf.cpp:108
virtual double Vel(double time) const
Definition: velocityprofile_traphalf.cpp:195
double b2
Definition: velocityprofile_traphalf.hpp:147
double a3
Definition: velocityprofile_traphalf.hpp:146
double t1
Definition: velocityprofile_traphalf.hpp:150
double c2
Definition: velocityprofile_traphalf.hpp:148
double maxacc
Definition: velocityprofile_traphalf.hpp:157
double b3
Definition: velocityprofile_traphalf.hpp:147
double t2
Definition: velocityprofile_traphalf.hpp:150
double c3
Definition: velocityprofile_traphalf.hpp:148
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:138
double a1
Definition: velocityprofile_traphalf.hpp:146