orocos_kdl
src
velocityprofile_dirac.hpp
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/***************************************************************************
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tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
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velocityprofile_dirac.h - description
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-------------------
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begin : Fri February 11 2005
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copyright : (C) 2005 Peter Soetens
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email : peter.soetens@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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#ifndef MOTIONPROFILE_DIRAC_H
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#define MOTIONPROFILE_DIRAC_H
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#include "
velocityprofile.hpp
"
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namespace
KDL
{
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class
VelocityProfile_Dirac :
public
VelocityProfile
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{
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double
p1
,
p2
,
t
;
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public
:
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void
SetProfile
(
double
pos1,
double
pos2);
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virtual
void
SetProfileDuration
(
double
pos1,
double
pos2,
double
duration);
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virtual
double
Duration
()
const
;
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virtual
double
Pos
(
double
time)
const
;
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virtual
double
Vel
(
double
time)
const
;
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virtual
double
Acc
(
double
time)
const
;
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virtual
void
Write
(
std::ostream
& os)
const
;
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virtual
VelocityProfile*
Clone
()
const
{
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VelocityProfile_Dirac* res =
new
VelocityProfile_Dirac();
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res->SetProfileDuration(
p1
,
p2
,
t
);
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return
res;
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}
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virtual
~VelocityProfile_Dirac
() {}
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};
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}
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#endif
velocityprofile.hpp
KDL::VelocityProfile_Dirac::Duration
virtual double Duration() const
Definition:
velocityprofile_dirac.cpp:76
KDL::VelocityProfile_Dirac::Clone
virtual VelocityProfile * Clone() const
Definition:
velocityprofile_dirac.hpp:109
KDL::VelocityProfile_Dirac::Write
virtual void Write(std::ostream &os) const
Definition:
velocityprofile_dirac.cpp:109
KDL
Definition:
kukaLWR_DHnew.cpp:25
std::ostream
KDL::VelocityProfile_Dirac::Acc
virtual double Acc(double time) const
Definition:
velocityprofile_dirac.cpp:103
KDL::VelocityProfile_Dirac::p2
double p2
Definition:
velocityprofile_dirac.hpp:100
KDL::VelocityProfile_Dirac::SetProfileDuration
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition:
velocityprofile_dirac.cpp:70
KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac
virtual ~VelocityProfile_Dirac()
Definition:
velocityprofile_dirac.hpp:115
KDL::VelocityProfile_Dirac::t
double t
Definition:
velocityprofile_dirac.hpp:100
KDL::VelocityProfile_Dirac::Pos
virtual double Pos(double time) const
Definition:
velocityprofile_dirac.cpp:80
KDL::VelocityProfile_Dirac::Vel
virtual double Vel(double time) const
Definition:
velocityprofile_dirac.cpp:92
KDL::VelocityProfile_Dirac::SetProfile
void SetProfile(double pos1, double pos2)
Definition:
velocityprofile_dirac.cpp:59
KDL::VelocityProfile_Dirac::p1
double p1
Definition:
velocityprofile_dirac.hpp:100
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