44#ifndef KDL_MOTION_VELOCITYPROFILE_TRAP_H
45#define KDL_MOTION_VELOCITYPROFILE_TRAP_H
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;
A Trapezoidal VelocityProfile implementation.
Definition velocityprofile_trap.hpp:61
virtual VelocityProfile * Clone() const
Definition velocityprofile_trap.cpp:180
double c3
Definition velocityprofile_trap.hpp:65
virtual double Pos(double time) const
Definition velocityprofile_trap.cpp:139
double b1
Definition velocityprofile_trap.hpp:64
virtual void SetProfileVelocity(double pos1, double pos2, double newvelocity)
Compute trapezoidal profile at a given fraction of max velocity.
Definition velocityprofile_trap.cpp:111
virtual double Acc(double time) const
Definition velocityprofile_trap.cpp:166
double c2
Definition velocityprofile_trap.hpp:65
double duration
Definition velocityprofile_trap.hpp:66
virtual double Vel(double time) const
Definition velocityprofile_trap.cpp:152
double t2
Definition velocityprofile_trap.hpp:67
virtual void SetMax(double _maxvel, double _maxacc)
Definition velocityprofile_trap.cpp:130
double a3
Definition velocityprofile_trap.hpp:63
double endpos
Definition velocityprofile_trap.hpp:73
double b3
Definition velocityprofile_trap.hpp:64
virtual void Write(std::ostream &os) const
Definition velocityprofile_trap.cpp:189
double a1
Definition velocityprofile_trap.hpp:63
double b2
Definition velocityprofile_trap.hpp:64
VelocityProfile_Trap(double _maxvel=0, double _maxacc=0)
Definition velocityprofile_trap.cpp:49
double t1
Definition velocityprofile_trap.hpp:67
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
Definition velocityprofile_trap.cpp:91
double maxvel
Definition velocityprofile_trap.hpp:70
virtual void SetProfile(double pos1, double pos2)
Definition velocityprofile_trap.cpp:61
double maxacc
Definition velocityprofile_trap.hpp:71
double a2
Definition velocityprofile_trap.hpp:63
virtual double Duration() const
Definition velocityprofile_trap.cpp:135
double startpos
Definition velocityprofile_trap.hpp:72
double c1
Definition velocityprofile_trap.hpp:65
virtual ~VelocityProfile_Trap()
Definition velocityprofile_trap.cpp:186
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition velocityprofile.hpp:63
Definition articulatedbodyinertia.cpp:26