orocos_kdl: KDL::VelocityProfile Class Reference

orocos_kdl

#include <velocityprofile.hpp>

Inheritance diagram for KDL::VelocityProfile:

Inheritance graph

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Public Member Functions
virtual double	Acc (double time) const =0

virtual VelocityProfile *	Clone () const =0

virtual double	Duration () const =0

virtual double	Pos (double time) const =0

virtual void	SetProfile (double pos1, double pos2)=0

virtual void	SetProfileDuration (double pos1, double pos2, double duration)=0

virtual double	Vel (double time) const =0

virtual void	Write (std::ostream &os) const =0

virtual	~VelocityProfile ()

Static Public Member Functions
static VelocityProfile *	Read (std::istream &is)

Detailed Description

A VelocityProfile stores the velocity profile that is used within a trajectory. A velocity profile is the function that expresses position, velocity and acceleration of a point on a curve in function of time. It defines the how a point s moves on a path S.

Definition at line 101 of file velocityprofile.hpp.

Constructor & Destructor Documentation

◆ ~VelocityProfile()

virtual KDL::VelocityProfile::~VelocityProfile ( )

inlinevirtual

Definition at line 180 of file velocityprofile.hpp.

Member Function Documentation

◆ Acc()

virtual double KDL::VelocityProfile::Acc ( double time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Clone()

virtual VelocityProfile* KDL::VelocityProfile::Clone ( ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Duration()

virtual double KDL::VelocityProfile::Duration ( ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Pos()

virtual double KDL::VelocityProfile::Pos ( double time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Read()

VelocityProfile * KDL::VelocityProfile::Read ( std::istream & is )

static

Definition at line 91 of file velocityprofile.cpp.

◆ SetProfile()

virtual void KDL::VelocityProfile::SetProfile	(	double	pos1,
		double	pos2
	)

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ SetProfileDuration()

virtual void KDL::VelocityProfile::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	duration
	)

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Vel()

virtual double KDL::VelocityProfile::Vel ( double time ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

◆ Write()

virtual void KDL::VelocityProfile::Write ( std::ostream & os ) const

pure virtual

Implemented in KDL::VelocityProfile_TrapHalf, KDL::VelocityProfile_Trap, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Dirac, and KDL::VelocityProfile_Spline.

The documentation for this class was generated from the following files: