#include <velocityprofile_trap.hpp>
A Trapezoidal VelocityProfile implementation.
Definition at line 98 of file velocityprofile_trap.hpp.
◆ VelocityProfile_Trap()
KDL::VelocityProfile_Trap::VelocityProfile_Trap |
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double |
_maxvel = 0 , |
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double |
_maxacc = 0 |
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) |
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◆ ~VelocityProfile_Trap()
KDL::VelocityProfile_Trap::~VelocityProfile_Trap |
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virtual |
◆ Acc()
double KDL::VelocityProfile_Trap::Acc |
( |
double |
time | ) |
const |
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virtual |
◆ Clone()
◆ Duration()
double KDL::VelocityProfile_Trap::Duration |
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const |
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virtual |
◆ Pos()
double KDL::VelocityProfile_Trap::Pos |
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double |
time | ) |
const |
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virtual |
◆ SetMax()
void KDL::VelocityProfile_Trap::SetMax |
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double |
_maxvel, |
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double |
_maxacc |
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) |
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virtual |
◆ SetProfile()
void KDL::VelocityProfile_Trap::SetProfile |
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double |
pos1, |
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double |
pos2 |
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) |
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virtual |
◆ SetProfileDuration()
void KDL::VelocityProfile_Trap::SetProfileDuration |
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double |
pos1, |
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double |
pos2, |
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double |
newduration |
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) |
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virtual |
◆ SetProfileVelocity()
void KDL::VelocityProfile_Trap::SetProfileVelocity |
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double |
pos1, |
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double |
pos2, |
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double |
newvelocity |
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) |
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virtual |
Compute trapezoidal profile at a given fraction of max velocity
- Parameters
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pos1 | Position to start from |
pos2 | Position to end at |
newvelocity | Fraction of max velocity to use during the non-ramp, flat-velocity part of the profile. |
KDL::epsilon | <= newvelocity <= 1.0 (forcibly clamped to this range internally) |
Definition at line 149 of file velocityprofile_trap.cpp.
◆ Vel()
double KDL::VelocityProfile_Trap::Vel |
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double |
time | ) |
const |
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virtual |
◆ Write()
void KDL::VelocityProfile_Trap::Write |
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std::ostream & |
os | ) |
const |
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virtual |
◆ a1
double KDL::VelocityProfile_Trap::a1 |
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private |
◆ a2
double KDL::VelocityProfile_Trap::a2 |
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private |
◆ a3
double KDL::VelocityProfile_Trap::a3 |
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private |
◆ b1
double KDL::VelocityProfile_Trap::b1 |
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private |
◆ b2
double KDL::VelocityProfile_Trap::b2 |
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private |
◆ b3
double KDL::VelocityProfile_Trap::b3 |
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private |
◆ c1
double KDL::VelocityProfile_Trap::c1 |
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private |
◆ c2
double KDL::VelocityProfile_Trap::c2 |
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private |
◆ c3
double KDL::VelocityProfile_Trap::c3 |
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private |
◆ duration
double KDL::VelocityProfile_Trap::duration |
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private |
◆ endpos
double KDL::VelocityProfile_Trap::endpos |
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private |
◆ maxacc
double KDL::VelocityProfile_Trap::maxacc |
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private |
◆ maxvel
double KDL::VelocityProfile_Trap::maxvel |
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private |
◆ startpos
double KDL::VelocityProfile_Trap::startpos |
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private |
◆ t1
double KDL::VelocityProfile_Trap::t1 |
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private |
◆ t2
double KDL::VelocityProfile_Trap::t2 |
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private |
The documentation for this class was generated from the following files: