KDL::VelocityProfile Class Reference
[Motion]
A VelocityProfile stores the velocity profile that is used within a trajectory. More...
#include <velocityprofile.hpp>
Public Member Functions | |
| virtual double | Acc (double time) const =0 |
| virtual VelocityProfile * | Clone () const =0 |
| virtual double | Duration () const =0 |
| virtual double | Pos (double time) const =0 |
| virtual void | SetProfile (double pos1, double pos2)=0 |
| virtual void | SetProfileDuration (double pos1, double pos2, double duration)=0 |
| virtual double | Vel (double time) const =0 |
| virtual void | Write (std::ostream &os) const =0 |
| virtual | ~VelocityProfile () |
Static Public Member Functions | |
| static VelocityProfile * | Read (std::istream &is) |
Detailed Description
A VelocityProfile stores the velocity profile that is used within a trajectory.
A velocity profile is the function that expresses position, velocity and acceleration of a point on a curve in function of time. It defines the how a point s moves on a path S.
Definition at line 62 of file velocityprofile.hpp.
Constructor & Destructor Documentation
| virtual KDL::VelocityProfile::~VelocityProfile | ( | ) | [inline, virtual] |
Definition at line 102 of file velocityprofile.hpp.
Member Function Documentation
| virtual double KDL::VelocityProfile::Acc | ( | double | time | ) | const [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Acc().
| virtual VelocityProfile* KDL::VelocityProfile::Clone | ( | ) | const [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Clone().
| virtual double KDL::VelocityProfile::Duration | ( | ) | const [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Duration().
| virtual double KDL::VelocityProfile::Pos | ( | double | time | ) | const [pure virtual] |
| VelocityProfile * KDL::VelocityProfile::Read | ( | std::istream & | is | ) | [static] |
Definition at line 55 of file velocityprofile.cpp.
References KDL::Eat(), KDL::EatWord(), KDL::IOTrace(), and KDL::IOTracePop().
Referenced by KDL::Trajectory::Read().
| virtual void KDL::VelocityProfile::SetProfile | ( | double | pos1, | |
| double | pos2 | |||
| ) | [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by Robot::Trajectory::generateTrajectory().
| virtual void KDL::VelocityProfile::SetProfileDuration | ( | double | pos1, | |
| double | pos2, | |||
| double | duration | |||
| ) | [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Trajectory_Segment().
| virtual double KDL::VelocityProfile::Vel | ( | double | time | ) | const [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Acc(), and KDL::Trajectory_Segment::Vel().
| virtual void KDL::VelocityProfile::Write | ( | std::ostream & | os | ) | const [pure virtual] |
Implemented in KDL::VelocityProfile_Dirac, KDL::VelocityProfile_Rectangular, KDL::VelocityProfile_Trap, and KDL::VelocityProfile_TrapHalf.
Referenced by KDL::Trajectory_Segment::Write().
The documentation for this class was generated from the following files:
