KDL::VelocityProfile_Trap Class Reference

A Trapezoidal VelocityProfile implementation. More...

#include <src/velocityprofile_trap.hpp>

Inheritance diagram for KDL::VelocityProfile_Trap:

Collaboration diagram for KDL::VelocityProfile_Trap:

Public Member Functions
	VelocityProfile_Trap (double _maxvel=0, double _maxacc=0)
virtual void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double newduration)
virtual void	SetProfileVelocity (double pos1, double pos2, double newvelocity)
	Compute trapezoidal profile at a given fraction of max velocity.
virtual void	SetMax (double _maxvel, double _maxacc)
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
virtual	~VelocityProfile_Trap ()

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

Private Attributes
double	a1
double	a2
double	a3
double	b1
double	b2
double	b3
double	c1
double	c2
double	c3
double	duration
double	t1
double	t2
double	maxvel
double	maxacc
double	startpos
double	endpos

Detailed Description

A Trapezoidal VelocityProfile implementation.

Constructor & Destructor Documentation

VelocityProfile_Trap()

KDL::VelocityProfile_Trap::VelocityProfile_Trap	(	double	_maxvel = 0,
		double	_maxacc = 0 )

References a1, a2, a3, b1, b2, b3, c1, c2, c3, duration, endpos, maxacc, maxvel, startpos, t1, and t2.

Referenced by Clone().

~VelocityProfile_Trap()

KDL::VelocityProfile_Trap::~VelocityProfile_Trap ( )

virtual

Member Function Documentation

Acc()

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

virtual

Implements KDL::VelocityProfile.

References a3, b3, c3, duration, t1, and t2.

Clone()

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

virtual

Implements KDL::VelocityProfile.

References duration, endpos, maxacc, maxvel, SetProfileDuration(), startpos, and VelocityProfile_Trap().

Duration()

double KDL::VelocityProfile_Trap::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

References duration.

Pos()

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

virtual

Implements KDL::VelocityProfile.

References a1, a2, a3, b1, b2, b3, c1, c2, c3, duration, endpos, startpos, t1, and t2.

Read()

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

staticinherited

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

SetMax()

void KDL::VelocityProfile_Trap::SetMax ( double _maxvel, double _maxacc )

virtual

References maxacc, and maxvel.

SetProfile()

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

virtual

Implements KDL::VelocityProfile.

References a1, a2, a3, b1, b2, b3, c1, c2, c3, duration, endpos, maxacc, maxvel, startpos, t1, and t2.

Referenced by SetProfileDuration(), and SetProfileVelocity().

SetProfileDuration()

void KDL::VelocityProfile_Trap::SetProfileDuration ( double pos1, double pos2, double newduration )

virtual

Implements KDL::VelocityProfile.

References a2, a3, b2, b3, c2, c3, duration, SetProfile(), t1, and t2.

Referenced by Clone().

SetProfileVelocity()

void KDL::VelocityProfile_Trap::SetProfileVelocity ( double pos1, double pos2, double newvelocity )

virtual

Compute trapezoidal profile at a given fraction of max velocity.

Parameters

pos1	Position to start from
pos2	Position to end at
newvelocity	Fraction of max velocity to use during the non-ramp, flat-velocity part of the profile.
KDL::epsilon	<= newvelocity <= 1.0 (forcibly clamped to this range internally)

References a2, a3, b2, b3, c2, c3, duration, SetProfile(), t1, and t2.

Vel()

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

virtual

Implements KDL::VelocityProfile.

References a2, a3, b2, b3, c2, c3, duration, t1, and t2.

Write()

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

virtual

Implements KDL::VelocityProfile.

References maxacc, and maxvel.

Member Data Documentation

a1

double KDL::VelocityProfile_Trap::a1

private

Referenced by Pos(), SetProfile(), and VelocityProfile_Trap().

a2

double KDL::VelocityProfile_Trap::a2

private

Referenced by Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

a3

double KDL::VelocityProfile_Trap::a3

private

Referenced by Acc(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

b1

double KDL::VelocityProfile_Trap::b1

private

Referenced by Pos(), SetProfile(), and VelocityProfile_Trap().

b2

double KDL::VelocityProfile_Trap::b2

private

Referenced by Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

b3

double KDL::VelocityProfile_Trap::b3

private

Referenced by Acc(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

c1

double KDL::VelocityProfile_Trap::c1

private

Referenced by Pos(), SetProfile(), and VelocityProfile_Trap().

c2

double KDL::VelocityProfile_Trap::c2

private

Referenced by Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

c3

double KDL::VelocityProfile_Trap::c3

private

Referenced by Acc(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

duration

double KDL::VelocityProfile_Trap::duration

private

Referenced by Acc(), Clone(), Duration(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

endpos

double KDL::VelocityProfile_Trap::endpos

private

Referenced by Clone(), Pos(), SetProfile(), and VelocityProfile_Trap().

maxacc

double KDL::VelocityProfile_Trap::maxacc

private

Referenced by Clone(), SetMax(), SetProfile(), VelocityProfile_Trap(), and Write().

maxvel

double KDL::VelocityProfile_Trap::maxvel

private

Referenced by Clone(), SetMax(), SetProfile(), VelocityProfile_Trap(), and Write().

startpos

double KDL::VelocityProfile_Trap::startpos

private

Referenced by Clone(), Pos(), SetProfile(), and VelocityProfile_Trap().

t1

double KDL::VelocityProfile_Trap::t1

private

Referenced by Acc(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

t2

double KDL::VelocityProfile_Trap::t2

private

Referenced by Acc(), Pos(), SetProfile(), SetProfileDuration(), SetProfileVelocity(), Vel(), and VelocityProfile_Trap().

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

• src/velocityprofile_trap.hpp
• src/velocityprofile_trap.cpp