KDL::VelocityProfile_Spline Class Reference

A spline VelocityProfile trajectory interpolation. More...

#include <src/velocityprofile_spline.hpp>

Inheritance diagram for KDL::VelocityProfile_Spline:

Collaboration diagram for KDL::VelocityProfile_Spline:

Public Member Functions
	VelocityProfile_Spline ()
	VelocityProfile_Spline (const VelocityProfile_Spline &p)
virtual	~VelocityProfile_Spline ()
virtual void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double duration)
	Generate linear interpolation coefficients.
virtual void	SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration)
	Generate cubic spline interpolation coefficients.
virtual void	SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration)
	Generate quintic spline interpolation coefficients.
virtual double	Duration () const
virtual double	Pos (double time) const
virtual double	Vel (double time) const
virtual double	Acc (double time) const
virtual void	Write (std::ostream &os) const
virtual VelocityProfile *	Clone () const

Static Public Member Functions
static VelocityProfile *	Read (std::istream &is)

Private Attributes
double	coeff_ [6]
double	duration_

Detailed Description

A spline VelocityProfile trajectory interpolation.

Constructor & Destructor Documentation

VelocityProfile_Spline() [1/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

)

References coeff_, and duration_.

Referenced by Clone(), and VelocityProfile_Spline().

VelocityProfile_Spline() [2/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

const VelocityProfile_Spline &

p

)

References coeff_, duration_, and VelocityProfile_Spline().

~VelocityProfile_Spline()

KDL::VelocityProfile_Spline::~VelocityProfile_Spline ( )

virtual

Member Function Documentation

Acc()

double KDL::VelocityProfile_Spline::Acc ( double time ) const

virtual

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

Clone()

VelocityProfile * KDL::VelocityProfile_Spline::Clone ( ) const

virtual

Implements KDL::VelocityProfile.

References VelocityProfile_Spline().

Duration()

double KDL::VelocityProfile_Spline::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

References duration_.

Pos()

double KDL::VelocityProfile_Spline::Pos ( double time ) const

virtual

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

Read()

VelocityProfile * KDL::VelocityProfile::Read ( std::istream & is )

staticinherited

Referenced by KDL::Trajectory::Read().

SetProfile()

void KDL::VelocityProfile_Spline::SetProfile ( double pos1, double pos2 )

virtual

Implements KDL::VelocityProfile.

SetProfileDuration() [1/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double pos1, double pos2, double duration )

virtual

Generate linear interpolation coefficients.

Parameters

pos1	begin position.
pos2	end position.
duration	duration of the profile.

Implements KDL::VelocityProfile.

References coeff_, and duration_.

SetProfileDuration() [2/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration )

virtual

Generate quintic spline interpolation coefficients.

Parameters

pos1	begin position.
vel1	begin velocity.
acc1	begin acceleration
pos2	end position.
vel2	end velocity.
acc2	end acceleration.
duration	duration of the profile.

References coeff_, duration_, and KDL::generatePowers().

SetProfileDuration() [3/3]

void KDL::VelocityProfile_Spline::SetProfileDuration ( double pos1, double vel1, double pos2, double vel2, double duration )

virtual

Generate cubic spline interpolation coefficients.

Parameters

pos1	begin position.
vel1	begin velocity.
pos2	end position.
vel2	end velocity.
duration	duration of the profile.

References coeff_, duration_, and KDL::generatePowers().

Vel()

double KDL::VelocityProfile_Spline::Vel ( double time ) const

virtual

Implements KDL::VelocityProfile.

References coeff_, and KDL::generatePowers().

Write()

void KDL::VelocityProfile_Spline::Write ( std::ostream & os ) const

virtual

Implements KDL::VelocityProfile.

References coeff_.

Member Data Documentation

coeff_

double KDL::VelocityProfile_Spline::coeff_[6]

private

Referenced by Acc(), Pos(), SetProfileDuration(), SetProfileDuration(), SetProfileDuration(), Vel(), VelocityProfile_Spline(), VelocityProfile_Spline(), and Write().

duration_

double KDL::VelocityProfile_Spline::duration_

private

Referenced by Duration(), SetProfileDuration(), SetProfileDuration(), SetProfileDuration(), VelocityProfile_Spline(), and VelocityProfile_Spline().

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The documentation for this class was generated from the following files:

• src/velocityprofile_spline.hpp
• src/velocityprofile_spline.cpp