KDL::VelocityProfile_TrapHalf Class Reference
[Motion]
A 'Half' Trapezoidal VelocityProfile. More...
#include <velocityprofile_traphalf.hpp>
Public Member Functions | |
| virtual double | Acc (double time) const |
| virtual VelocityProfile * | Clone () const |
| virtual double | Duration () const |
| virtual double | Pos (double time) const |
| void | SetMax (double _maxvel, double _maxacc, bool _starting) |
| virtual void | SetProfile (double pos1, double pos2) |
| Can throw a Error_MotionPlanning_Not_Feasible. | |
| virtual void | SetProfileDuration (double pos1, double pos2, double newduration) |
| virtual double | Vel (double time) const |
| VelocityProfile_TrapHalf (double _maxvel=0, double _maxacc=0, bool _starting=true) | |
| virtual void | Write (std::ostream &os) const |
| virtual | ~VelocityProfile_TrapHalf () |
Detailed Description
A 'Half' Trapezoidal VelocityProfile.
A contructor flag indicates if the calculated profile should be starting or ending.
Definition at line 63 of file velocityprofile_traphalf.hpp.
Constructor & Destructor Documentation
| KDL::VelocityProfile_TrapHalf::VelocityProfile_TrapHalf | ( | double | _maxvel = 0, |
|
| double | _maxacc = 0, |
|||
| bool | _starting = true | |||
| ) |
- Parameters:
-
_maxvel maximal velocity of the motion profile (positive) _maxacc maximal acceleration of the motion profile (positive) _starting this value is true when initial velocity is zero and ending velocity is maxvel, is false for the reverse
Definition at line 49 of file velocityprofile_traphalf.cpp.
Referenced by Clone().
| KDL::VelocityProfile_TrapHalf::~VelocityProfile_TrapHalf | ( | ) | [virtual] |
Definition at line 188 of file velocityprofile_traphalf.cpp.
Member Function Documentation
| double KDL::VelocityProfile_TrapHalf::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 168 of file velocityprofile_traphalf.cpp.
| VelocityProfile * KDL::VelocityProfile_TrapHalf::Clone | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 182 of file velocityprofile_traphalf.cpp.
References SetProfileDuration(), and VelocityProfile_TrapHalf().
| double KDL::VelocityProfile_TrapHalf::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 137 of file velocityprofile_traphalf.cpp.
| double KDL::VelocityProfile_TrapHalf::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 141 of file velocityprofile_traphalf.cpp.
| void KDL::VelocityProfile_TrapHalf::SetMax | ( | double | _maxvel, | |
| double | _maxacc, | |||
| bool | _starting | |||
| ) |
Definition at line 52 of file velocityprofile_traphalf.cpp.
| void KDL::VelocityProfile_TrapHalf::SetProfile | ( | double | pos1, | |
| double | pos2 | |||
| ) | [virtual] |
Can throw a Error_MotionPlanning_Not_Feasible.
Implements KDL::VelocityProfile.
Definition at line 81 of file velocityprofile_traphalf.cpp.
References KDL::sign().
Referenced by SetProfileDuration().
| void KDL::VelocityProfile_TrapHalf::SetProfileDuration | ( | double | pos1, | |
| double | pos2, | |||
| double | newduration | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 97 of file velocityprofile_traphalf.cpp.
References boost::numeric::bindings::umfpack::detail::factor(), SetProfile(), and KDL::sign().
Referenced by Clone().
| double KDL::VelocityProfile_TrapHalf::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 154 of file velocityprofile_traphalf.cpp.
| void KDL::VelocityProfile_TrapHalf::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 191 of file velocityprofile_traphalf.cpp.
The documentation for this class was generated from the following files:
