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44 #ifndef MOTIONPROFILE_RECT_H
45 #define MOTIONPROFILE_RECT_H
56 class VelocityProfile_Rectangular :
public VelocityProfile
69 void SetMax(
double _maxvel );
72 double pos1,
double pos2,
double duration);
74 virtual double Pos(
double time)
const;
75 virtual double Vel(
double time)
const;
76 virtual double Acc(
double time)
const;
78 virtual VelocityProfile*
Clone()
const{
80 res->SetProfileDuration(
p,
p+
v*
d,
d );
virtual VelocityProfile * Clone() const
virtual void SetProfileDuration(double pos1, double pos2, double duration)
virtual ~VelocityProfile_Rectangular()
virtual double Acc(double time) const
void SetMax(double _maxvel)
virtual double Pos(double time) const
virtual double Vel(double time) const
virtual void Write(std::ostream &os) const
virtual double Duration() const
VelocityProfile_Rectangular(double _maxvel=0)
void SetProfile(double pos1, double pos2)