KDL::VelocityProfile_Rectangular Class Reference

A rectangular VelocityProfile generates a constant velocity for moving from A to B. More...

#include <src/velocityprofile_rect.hpp>

Inheritance diagram for KDL::VelocityProfile_Rectangular:

Collaboration diagram for KDL::VelocityProfile_Rectangular:

Public Member Functions
	VelocityProfile_Rectangular (double _maxvel=0)
void	SetMax (double _maxvel)
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_Rectangular ()

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

Public Attributes
double	maxvel

Private Attributes
double	d
double	p
double	v

Detailed Description

A rectangular VelocityProfile generates a constant velocity for moving from A to B.

Constructor & Destructor Documentation

VelocityProfile_Rectangular()

KDL::VelocityProfile_Rectangular::VelocityProfile_Rectangular ( double _maxvel = 0 )

inline

References maxvel.

Referenced by Clone().

~VelocityProfile_Rectangular()

virtual KDL::VelocityProfile_Rectangular::~VelocityProfile_Rectangular ( )

inlinevirtual

Member Function Documentation

Acc()

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

virtual

Implements KDL::VelocityProfile.

Clone()

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

inlinevirtual

Implements KDL::VelocityProfile.

References d, maxvel, p, SetProfileDuration(), v, and VelocityProfile_Rectangular().

Duration()

double KDL::VelocityProfile_Rectangular::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

References d.

Pos()

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

virtual

Implements KDL::VelocityProfile.

References d, p, and v.

Read()

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

staticinherited

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

SetMax()

void KDL::VelocityProfile_Rectangular::SetMax

(

double

_maxvel

)

References maxvel.

SetProfile()

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

virtual

Implements KDL::VelocityProfile.

References d, KDL::diff(), maxvel, p, and v.

SetProfileDuration()

void KDL::VelocityProfile_Rectangular::SetProfileDuration ( double pos1, double pos2, double duration )

virtual

Implements KDL::VelocityProfile.

References d, KDL::diff(), maxvel, p, and v.

Referenced by Clone().

Vel()

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

virtual

Implements KDL::VelocityProfile.

References d, and v.

Write()

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

virtual

Implements KDL::VelocityProfile.

References maxvel.

Member Data Documentation

d

double KDL::VelocityProfile_Rectangular::d

private

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

maxvel

double KDL::VelocityProfile_Rectangular::maxvel

Referenced by Clone(), SetMax(), SetProfile(), SetProfileDuration(), VelocityProfile_Rectangular(), and Write().

p

double KDL::VelocityProfile_Rectangular::p

private

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

v

double KDL::VelocityProfile_Rectangular::v

private

Referenced by Clone(), Pos(), SetProfile(), SetProfileDuration(), and Vel().

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

• src/velocityprofile_rect.hpp
• src/velocityprofile_rect.cpp