Go to the documentation of this file.
44 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAP_H
45 #define KDL_MOTION_VELOCITYPROFILE_TRAP_H
60 class VelocityProfile_Trap :
public VelocityProfile
80 virtual void SetProfile(
double pos1,
double pos2);
83 double pos1,
double pos2,
double newduration
95 double pos1,
double pos2,
double newvelocity
98 virtual void SetMax(
double _maxvel,
double _maxacc);
100 virtual double Pos(
double time)
const;
101 virtual double Vel(
double time)
const;
102 virtual double Acc(
double time)
const;
103 virtual void Write(std::ostream& os)
const;
double a2
Definition: velocityprofile_trap.hpp:139
double maxvel
Definition: velocityprofile_trap.hpp:146
double b3
Definition: velocityprofile_trap.hpp:140
virtual double Duration() const
Definition: velocityprofile_trap.cpp:173
virtual ~VelocityProfile_Trap()
Definition: velocityprofile_trap.cpp:224
double maxacc
Definition: velocityprofile_trap.hpp:147
double a1
Definition: velocityprofile_trap.hpp:139
virtual double Acc(double time) const
Definition: velocityprofile_trap.cpp:204
virtual VelocityProfile * Clone() const
Definition: velocityprofile_trap.cpp:218
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
Definition: velocityprofile_trap.cpp:129
double c1
Definition: velocityprofile_trap.hpp:141
virtual void Write(std::ostream &os) const
Definition: velocityprofile_trap.cpp:227
double t1
Definition: velocityprofile_trap.hpp:143
Definition: articulatedbodyinertia.cpp:28
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:101
double c2
Definition: velocityprofile_trap.hpp:141
double b2
Definition: velocityprofile_trap.hpp:140
virtual void SetProfileVelocity(double pos1, double pos2, double newvelocity)
Compute trapezoidal profile at a given fraction of max velocity.
Definition: velocityprofile_trap.cpp:149
double startpos
Definition: velocityprofile_trap.hpp:148
double c3
Definition: velocityprofile_trap.hpp:141
virtual double Pos(double time) const
Definition: velocityprofile_trap.cpp:177
virtual double Vel(double time) const
Definition: velocityprofile_trap.cpp:190
double duration
Definition: velocityprofile_trap.hpp:142
double endpos
Definition: velocityprofile_trap.hpp:149
double b1
Definition: velocityprofile_trap.hpp:140
double a3
Definition: velocityprofile_trap.hpp:139
virtual void SetProfile(double pos1, double pos2)
Definition: velocityprofile_trap.cpp:99
double t2
Definition: velocityprofile_trap.hpp:143
virtual void SetMax(double _maxvel, double _maxacc)
Definition: velocityprofile_trap.cpp:168
VelocityProfile_Trap(double _maxvel=0, double _maxacc=0)
Definition: velocityprofile_trap.cpp:87