KDL::VelocityProfile_Dirac Class Reference
[Motion]
A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...
#include <velocityprofile_dirac.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 | SetProfile (double pos1, double pos2) |
| virtual void | SetProfileDuration (double pos1, double pos2, double duration) |
| virtual double | Vel (double time) const |
| virtual void | Write (std::ostream &os) const |
| virtual | ~VelocityProfile_Dirac () |
Detailed Description
A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time.
In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.
However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;
Definition at line 48 of file velocityprofile_dirac.hpp.
Constructor & Destructor Documentation
| virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac | ( | ) | [inline, virtual] |
Definition at line 65 of file velocityprofile_dirac.hpp.
Member Function Documentation
| double KDL::VelocityProfile_Dirac::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 73 of file velocityprofile_dirac.cpp.
| virtual VelocityProfile* KDL::VelocityProfile_Dirac::Clone | ( | ) | const [inline, virtual] |
Implements KDL::VelocityProfile.
Definition at line 59 of file velocityprofile_dirac.hpp.
References SetProfileDuration().
| double KDL::VelocityProfile_Dirac::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 51 of file velocityprofile_dirac.cpp.
| double KDL::VelocityProfile_Dirac::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 55 of file velocityprofile_dirac.cpp.
| void KDL::VelocityProfile_Dirac::SetProfile | ( | double | pos1, | |
| double | pos2 | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 34 of file velocityprofile_dirac.cpp.
Referenced by SetProfileDuration().
| void KDL::VelocityProfile_Dirac::SetProfileDuration | ( | double | pos1, | |
| double | pos2, | |||
| double | duration | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 45 of file velocityprofile_dirac.cpp.
References SetProfile().
Referenced by Clone().
| double KDL::VelocityProfile_Dirac::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 62 of file velocityprofile_dirac.cpp.
| void KDL::VelocityProfile_Dirac::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 79 of file velocityprofile_dirac.cpp.
The documentation for this class was generated from the following files:
