KDL::VelocityProfile_Trap Class Reference

#include <velocityprofile_trap.hpp>

Inheritance 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)
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 ()
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 Trapezoidal VelocityProfile implementation.

Constructor & Destructor Documentation

VelocityProfile_Trap()

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

~VelocityProfile_Trap()

virtual KDL::VelocityProfile_Trap::~VelocityProfile_Trap ( )

virtual

Member Function Documentation

Acc()

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

virtual

Implements KDL::VelocityProfile.

Clone()

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

virtual

Implements KDL::VelocityProfile.

Duration()

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

virtual

Implements KDL::VelocityProfile.

Pos()

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

virtual

Implements KDL::VelocityProfile.

SetMax()

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

virtual

SetProfile()

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

virtual

Implements KDL::VelocityProfile.

SetProfileDuration()

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

virtual

Implements KDL::VelocityProfile.

SetProfileVelocity()

virtual 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)

Vel()

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

virtual

Implements KDL::VelocityProfile.

Write()

virtual void KDL::VelocityProfile_Trap::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_trap.hpp