orocos_kdl
src
velocityprofile_rect.cpp
Go to the documentation of this file.
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/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 velocityprofile_rect.cxx
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velocityprofile_rect.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 Erwin Aertbelien
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email : erwin.aertbelien@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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/*****************************************************************************
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: velocityprofile_rect.cpp,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#include "
utilities/error.h
"
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#include "
velocityprofile_rect.hpp
"
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namespace
KDL
{
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void
VelocityProfile_Rectangular::SetProfile
(
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double
pos1,
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double
pos2
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)
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{
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double
diff
;
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diff
= pos2-pos1;
// increment per sec.
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if
(
diff
!= 0 )
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{
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v
= (
diff
>0)?
maxvel
:-
maxvel
;
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p
= pos1;
// start pos
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d
=
diff
/
v
;
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}
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else
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{
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v
= 0;
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p
= pos1;
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d
= 0;
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}
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}
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void
VelocityProfile_Rectangular::SetMax
(
double
vMax )
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{
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maxvel
= vMax;
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}
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void
VelocityProfile_Rectangular::
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SetProfileDuration
(
double
pos1,
double
pos2,
double
duration)
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{
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double
diff
;
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diff
= pos2-pos1;
// increment per sec.
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if
(
diff
!= 0 )
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{
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v
=
diff
/duration;
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if
(
v
>
maxvel
|| duration==0 )
// safety.
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v
=
maxvel
;
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p
= pos1;
// start pos
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d
=
diff
/
v
;
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}
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else
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{
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v
= 0;
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p
= pos1;
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d
= duration;
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}
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}
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double
VelocityProfile_Rectangular::Duration
()
const
{
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return
d
;
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}
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double
VelocityProfile_Rectangular::Pos
(
double
time)
const
{
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if
(time < 0) {
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return
p
;
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}
else
if
(time>
d
) {
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return
v
*
d
+
p
;
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}
else
{
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return
v
*
time
+
p
;
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}
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}
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double
VelocityProfile_Rectangular::Vel
(
double
time)
const
{
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if
(time < 0) {
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return
0;
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}
else
if
(time>
d
) {
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return
0;
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}
else
{
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return
v
;
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}
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}
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double
VelocityProfile_Rectangular::Acc
(
double
time)
const
{
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throw
Error_MotionPlanning_Incompatible();
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return
0;
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}
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void
VelocityProfile_Rectangular::Write
(
std::ostream
& os)
const
{
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os <<
"CONSTVEL["
<<
maxvel
<<
"]"
;
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}
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}
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KDL::VelocityProfile_Rectangular::v
double v
Definition:
velocityprofile_rect.hpp:136
KDL::VelocityProfile_Rectangular::SetProfileDuration
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition:
velocityprofile_rect.cpp:115
KDL::VelocityProfile_Rectangular::Acc
virtual double Acc(double time) const
Definition:
velocityprofile_rect.cpp:159
KDL::VelocityProfile_Rectangular::SetMax
void SetMax(double _maxvel)
Definition:
velocityprofile_rect.cpp:108
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::VelocityProfile_Rectangular::Pos
virtual double Pos(double time) const
Definition:
velocityprofile_rect.cpp:139
std::ostream
velocityprofile_rect.hpp
error.h
KDL::VelocityProfile_Rectangular::Vel
virtual double Vel(double time) const
Definition:
velocityprofile_rect.cpp:149
KDL::VelocityProfile_Rectangular::maxvel
double maxvel
Definition:
velocityprofile_rect.hpp:138
KDL::VelocityProfile_Rectangular::p
double p
Definition:
velocityprofile_rect.hpp:136
KDL::VelocityProfile_Rectangular::Write
virtual void Write(std::ostream &os) const
Definition:
velocityprofile_rect.cpp:165
std::time
T time(T... args)
KDL::diff
IMETHOD Vector diff(const Vector &p_w_a, const Vector &p_w_b, double dt=1)
KDL::VelocityProfile_Rectangular::Duration
virtual double Duration() const
Definition:
velocityprofile_rect.cpp:135
KDL::VelocityProfile_Rectangular::d
double d
Definition:
velocityprofile_rect.hpp:136
KDL::VelocityProfile_Rectangular::SetProfile
void SetProfile(double pos1, double pos2)
Definition:
velocityprofile_rect.cpp:87
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