46 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
47 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
92 void SetMax(
double _maxvel,
double _maxacc,
bool _starting);
104 virtual void SetProfile(
double pos1,
double pos2);
118 double pos1,
double pos2,
double newduration
122 virtual double Pos(
double time)
const;
123 virtual double Vel(
double time)
const;
124 virtual double Acc(
double time)
const;
125 virtual void Write(std::ostream& os)
const;
A 'Half' Trapezoidal VelocityProfile.
Definition: velocityprofile_traphalf.hpp:64
virtual void SetProfile(double pos1, double pos2)
Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2.
Definition: velocityprofile_traphalf.cpp:82
double t2
Definition: velocityprofile_traphalf.hpp:70
void SetMax(double _maxvel, double _maxacc, bool _starting)
Definition: velocityprofile_traphalf.cpp:53
double a1
Definition: velocityprofile_traphalf.hpp:66
virtual void SetProfileDuration(double pos1, double pos2, double newduration)
Can be used to prolong the profile, there are two possible outcomes: in a first phase the acceleratio...
Definition: velocityprofile_traphalf.cpp:100
VelocityProfile_TrapHalf(double _maxvel=0, double _maxacc=0, bool _starting=true)
Definition: velocityprofile_traphalf.cpp:50
double startpos
Definition: velocityprofile_traphalf.hpp:72
virtual VelocityProfile * Clone() const
Definition: velocityprofile_traphalf.cpp:185
double a2
Definition: velocityprofile_traphalf.hpp:66
double t1
Definition: velocityprofile_traphalf.hpp:70
double c1
Definition: velocityprofile_traphalf.hpp:68
double b3
Definition: velocityprofile_traphalf.hpp:67
virtual double Vel(double time) const
Definition: velocityprofile_traphalf.cpp:157
bool starting
Definition: velocityprofile_traphalf.hpp:78
double c2
Definition: velocityprofile_traphalf.hpp:68
void PlanProfile2(double v, double a)
Definition: velocityprofile_traphalf.cpp:70
double a3
Definition: velocityprofile_traphalf.hpp:66
void PlanProfile1(double v, double a)
Definition: velocityprofile_traphalf.cpp:58
double b2
Definition: velocityprofile_traphalf.hpp:67
double b1
Definition: velocityprofile_traphalf.hpp:67
double maxacc
Definition: velocityprofile_traphalf.hpp:77
virtual double Pos(double time) const
Definition: velocityprofile_traphalf.cpp:144
double c3
Definition: velocityprofile_traphalf.hpp:68
virtual double Acc(double time) const
Definition: velocityprofile_traphalf.cpp:171
virtual ~VelocityProfile_TrapHalf()
Definition: velocityprofile_traphalf.cpp:191
double duration
Definition: velocityprofile_traphalf.hpp:69
double endpos
Definition: velocityprofile_traphalf.hpp:73
virtual void Write(std::ostream &os) const
Definition: velocityprofile_traphalf.cpp:194
virtual double Duration() const
Definition: velocityprofile_traphalf.cpp:140
double maxvel
Definition: velocityprofile_traphalf.hpp:76
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:63
Definition: articulatedbodyinertia.cpp:28