KDL 1.5.1
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velocityprofile_rect.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_rect.h
3
4 velocityprofile_rect.h - description
5 -------------------
6 begin : Mon January 10 2005
7 copyright : (C) 2005 Erwin Aertbelien
8 email : erwin.aertbelien@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29/*****************************************************************************
30 * \author
31 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32 *
33 * \version
34 * ORO_Geometry V0.2
35 *
36 * \par History
37 * - $log$
38 *
39 * \par Release
40 * $Id: velocityprofile_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef MOTIONPROFILE_RECT_H
45#define MOTIONPROFILE_RECT_H
46
47#include "velocityprofile.hpp"
48
49
50namespace KDL {
57 // Defines a rectangular velocityprofile.
58 // (i.e. constant velocity)
59 {
60 double d,p,v;
61 public:
62 double maxvel;
63
64 VelocityProfile_Rectangular(double _maxvel=0):
65 maxvel(_maxvel) {}
66 // constructs motion profile class with <maxvel> as parameter of the
67 // trajectory.
68
69 void SetMax( double _maxvel );
70 void SetProfile(double pos1,double pos2);
71 virtual void SetProfileDuration(
72 double pos1,double pos2,double duration);
73 virtual double Duration() const;
74 virtual double Pos(double time) const;
75 virtual double Vel(double time) const;
76 virtual double Acc(double time) const;
77 virtual void Write(std::ostream& os) const;
78 virtual VelocityProfile* Clone() const{
80 res->SetProfileDuration( p, p+v*d, d );
81 return res;
82 }
83 // returns copy of current VelocityProfile object. (virtual constructor)
85 };
86
87}
88
89
90#endif
A rectangular VelocityProfile generates a constant velocity for moving from A to B.
Definition velocityprofile_rect.hpp:59
void SetMax(double _maxvel)
Definition velocityprofile_rect.cpp:70
virtual double Vel(double time) const
Definition velocityprofile_rect.cpp:111
double maxvel
Definition velocityprofile_rect.hpp:62
virtual ~VelocityProfile_Rectangular()
Definition velocityprofile_rect.hpp:84
virtual double Duration() const
Definition velocityprofile_rect.cpp:97
double p
Definition velocityprofile_rect.hpp:60
virtual VelocityProfile * Clone() const
Definition velocityprofile_rect.hpp:78
virtual double Pos(double time) const
Definition velocityprofile_rect.cpp:101
virtual void Write(std::ostream &os) const
Definition velocityprofile_rect.cpp:127
double d
Definition velocityprofile_rect.hpp:60
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition velocityprofile_rect.cpp:77
VelocityProfile_Rectangular(double _maxvel=0)
Definition velocityprofile_rect.hpp:64
void SetProfile(double pos1, double pos2)
Definition velocityprofile_rect.cpp:49
double v
Definition velocityprofile_rect.hpp:60
virtual double Acc(double time) const
Definition velocityprofile_rect.cpp:121
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition velocityprofile.hpp:63
Definition articulatedbodyinertia.cpp:26