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.