KDL::VelocityProfile_Dirac Class Reference

#include <velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:

Public Member Functions
void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double duration)
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_Dirac ()
Public Member Functions inherited from KDL::VelocityProfile
virtual	~VelocityProfile ()

Additional Inherited Members
Static Public Member Functions inherited from KDL::VelocityProfile
static VelocityProfile *	Read (std::istream &is)

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;

Constructor & Destructor Documentation

~VelocityProfile_Dirac()

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac ( )

inlinevirtual

Member Function Documentation

Acc()

virtual double KDL::VelocityProfile_Dirac::Acc ( double time ) const

virtual

Implements KDL::VelocityProfile.

Clone()

virtual VelocityProfile * KDL::VelocityProfile_Dirac::Clone ( ) const

inlinevirtual

Implements KDL::VelocityProfile.

Duration()

virtual double KDL::VelocityProfile_Dirac::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

Pos()

virtual double KDL::VelocityProfile_Dirac::Pos ( double time ) const

virtual

Implements KDL::VelocityProfile.

SetProfile()

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

virtual

Implements KDL::VelocityProfile.

SetProfileDuration()

virtual void KDL::VelocityProfile_Dirac::SetProfileDuration ( double pos1, double pos2, double duration )

virtual

Implements KDL::VelocityProfile.

Vel()

virtual double KDL::VelocityProfile_Dirac::Vel ( double time ) const

virtual

Implements KDL::VelocityProfile.

Write()

virtual void KDL::VelocityProfile_Dirac::Write ( std::ostream & os ) const

virtual

Implements KDL::VelocityProfile.

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

• build/orocos_kdl_install/include/kdl/velocityprofile_dirac.hpp