orocos_kdl
Public Member Functions | Private Attributes | List of all members
KDL::VelocityProfile_Trap Class Reference

#include <velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:
Inheritance graph
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Public Member Functions

virtual double Acc (double time) const
 
virtual VelocityProfileClone () const
 
virtual double Duration () const
 
virtual double Pos (double time) const
 
virtual void SetMax (double _maxvel, double _maxacc)
 
virtual void SetProfile (double pos1, double pos2)
 
virtual void SetProfileDuration (double pos1, double pos2, double newduration)
 
virtual void SetProfileVelocity (double pos1, double pos2, double newvelocity)
 
virtual double Vel (double time) const
 
 VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)
 
virtual void Write (std::ostream &os) const
 
virtual ~VelocityProfile_Trap ()
 
- Public Member Functions inherited from KDL::VelocityProfile
virtual ~VelocityProfile ()
 

Private Attributes

double a1
 
double a2
 
double a3
 
double b1
 
double b2
 
double b3
 
double c1
 
double c2
 
double c3
 
double duration
 
double endpos
 
double maxacc
 
double maxvel
 
double startpos
 
double t1
 
double t2
 

Additional Inherited Members

- Static Public Member Functions inherited from KDL::VelocityProfile
static VelocityProfileRead (std::istream &is)
 

Detailed Description

A Trapezoidal VelocityProfile implementation.

Definition at line 98 of file velocityprofile_trap.hpp.

Constructor & Destructor Documentation

◆ VelocityProfile_Trap()

KDL::VelocityProfile_Trap::VelocityProfile_Trap ( double  _maxvel = 0,
double  _maxacc = 0 
)

Definition at line 87 of file velocityprofile_trap.cpp.

◆ ~VelocityProfile_Trap()

KDL::VelocityProfile_Trap::~VelocityProfile_Trap ( )
virtual

Definition at line 224 of file velocityprofile_trap.cpp.

Member Function Documentation

◆ Acc()

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

Implements KDL::VelocityProfile.

Definition at line 204 of file velocityprofile_trap.cpp.

◆ Clone()

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

Implements KDL::VelocityProfile.

Definition at line 218 of file velocityprofile_trap.cpp.

◆ Duration()

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

Implements KDL::VelocityProfile.

Definition at line 173 of file velocityprofile_trap.cpp.

◆ Pos()

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

Implements KDL::VelocityProfile.

Definition at line 177 of file velocityprofile_trap.cpp.

◆ SetMax()

void KDL::VelocityProfile_Trap::SetMax ( double  _maxvel,
double  _maxacc 
)
virtual

Definition at line 168 of file velocityprofile_trap.cpp.

◆ SetProfile()

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

Implements KDL::VelocityProfile.

Definition at line 99 of file velocityprofile_trap.cpp.

◆ SetProfileDuration()

void KDL::VelocityProfile_Trap::SetProfileDuration ( double  pos1,
double  pos2,
double  newduration 
)
virtual

Implements KDL::VelocityProfile.

Definition at line 129 of file velocityprofile_trap.cpp.

◆ SetProfileVelocity()

void KDL::VelocityProfile_Trap::SetProfileVelocity ( double  pos1,
double  pos2,
double  newvelocity 
)
virtual

Compute trapezoidal profile at a given fraction of max velocity

Parameters
pos1Position to start from
pos2Position to end at
newvelocityFraction 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 ( double  time) const
virtual

Implements KDL::VelocityProfile.

Definition at line 190 of file velocityprofile_trap.cpp.

◆ Write()

void KDL::VelocityProfile_Trap::Write ( std::ostream os) const
virtual

Implements KDL::VelocityProfile.

Definition at line 227 of file velocityprofile_trap.cpp.

Member Data Documentation

◆ a1

double KDL::VelocityProfile_Trap::a1
private

Definition at line 139 of file velocityprofile_trap.hpp.

◆ a2

double KDL::VelocityProfile_Trap::a2
private

Definition at line 139 of file velocityprofile_trap.hpp.

◆ a3

double KDL::VelocityProfile_Trap::a3
private

Definition at line 139 of file velocityprofile_trap.hpp.

◆ b1

double KDL::VelocityProfile_Trap::b1
private

Definition at line 140 of file velocityprofile_trap.hpp.

◆ b2

double KDL::VelocityProfile_Trap::b2
private

Definition at line 140 of file velocityprofile_trap.hpp.

◆ b3

double KDL::VelocityProfile_Trap::b3
private

Definition at line 140 of file velocityprofile_trap.hpp.

◆ c1

double KDL::VelocityProfile_Trap::c1
private

Definition at line 141 of file velocityprofile_trap.hpp.

◆ c2

double KDL::VelocityProfile_Trap::c2
private

Definition at line 141 of file velocityprofile_trap.hpp.

◆ c3

double KDL::VelocityProfile_Trap::c3
private

Definition at line 141 of file velocityprofile_trap.hpp.

◆ duration

double KDL::VelocityProfile_Trap::duration
private

Definition at line 142 of file velocityprofile_trap.hpp.

◆ endpos

double KDL::VelocityProfile_Trap::endpos
private

Definition at line 149 of file velocityprofile_trap.hpp.

◆ maxacc

double KDL::VelocityProfile_Trap::maxacc
private

Definition at line 147 of file velocityprofile_trap.hpp.

◆ maxvel

double KDL::VelocityProfile_Trap::maxvel
private

Definition at line 146 of file velocityprofile_trap.hpp.

◆ startpos

double KDL::VelocityProfile_Trap::startpos
private

Definition at line 148 of file velocityprofile_trap.hpp.

◆ t1

double KDL::VelocityProfile_Trap::t1
private

Definition at line 143 of file velocityprofile_trap.hpp.

◆ t2

double KDL::VelocityProfile_Trap::t2
private

Definition at line 143 of file velocityprofile_trap.hpp.


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