KDL::VelocityProfile_Spline Class Reference

A spline VelocityProfile trajectory interpolation. More...

#include <velocityprofile_spline.hpp>

Inheritance 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)
virtual void	SetProfileDuration (double pos1, double vel1, double pos2, double vel2, double duration)
virtual void	SetProfileDuration (double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, 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
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 spline VelocityProfile trajectory interpolation.

Constructor & Destructor Documentation

VelocityProfile_Spline() [1/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

)

VelocityProfile_Spline() [2/2]

KDL::VelocityProfile_Spline::VelocityProfile_Spline

(

const VelocityProfile_Spline &

p

)

~VelocityProfile_Spline()

virtual KDL::VelocityProfile_Spline::~VelocityProfile_Spline ( )

virtual

Member Function Documentation

Acc()

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

virtual

Implements KDL::VelocityProfile.

Clone()

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

virtual

Implements KDL::VelocityProfile.

Duration()

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

virtual

Implements KDL::VelocityProfile.

Pos()

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

virtual

Implements KDL::VelocityProfile.

SetProfile()

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

virtual

Implements KDL::VelocityProfile.

SetProfileDuration() [1/3]

virtual 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.

SetProfileDuration() [2/3]

virtual 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.

SetProfileDuration() [3/3]

virtual 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.

Vel()

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

virtual

Implements KDL::VelocityProfile.

Write()

virtual void KDL::VelocityProfile_Spline::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_spline.hpp