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53 duration(0), t1(0), t2(0),
54 maxvel(_maxvel),maxacc(_maxacc),
55 startpos(0), endpos(0)
92 double pos1,
double pos2,
double newduration) {
97 double factor =
duration/newduration;
112 double pos1,
double pos2,
double newvelocity) {
116 double factor = newvelocity;
117 if (1.0 < factor) factor = 1.0;
142 }
else if (time<
t1) {
144 }
else if (time<
t2) {
155 }
else if (time<
t1) {
157 }
else if (time<
t2) {
169 }
else if (time<
t1) {
171 }
else if (time<
t2) {
virtual double Duration() const
virtual ~VelocityProfile_Trap()
virtual double Acc(double time) const
virtual VelocityProfile * Clone() const
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
virtual void Write(std::ostream &os) const
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
virtual void SetProfileVelocity(double pos1, double pos2, double newvelocity)
virtual double Pos(double time) const
virtual double Vel(double time) const
virtual void SetProfile(double pos1, double pos2)
INLINE Rall1d< T, V, S > sqr(const Rall1d< T, V, S > &arg)
virtual void SetMax(double _maxvel, double _maxacc)
VelocityProfile_Trap(double _maxvel=0, double _maxacc=0)