KDL 1.5.1
velocityprofile_dirac.hpp
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1/***************************************************************************
2 tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
3
4 velocityprofile_dirac.h - description
5 -------------------
6 begin : Fri February 11 2005
7 copyright : (C) 2005 Peter Soetens
8 email : peter.soetens@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29#ifndef MOTIONPROFILE_DIRAC_H
30#define MOTIONPROFILE_DIRAC_H
31
32#include "velocityprofile.hpp"
33
34
35namespace KDL {
49 {
50 double p1,p2,t;
51 public:
52 void SetProfile(double pos1,double pos2);
53 virtual void SetProfileDuration(double pos1,double pos2,double duration);
54 virtual double Duration() const;
55 virtual double Pos(double time) const;
56 virtual double Vel(double time) const;
57 virtual double Acc(double time) const;
58 virtual void Write(std::ostream& os) const;
59 virtual VelocityProfile* Clone() const {
61 res->SetProfileDuration( p1, p2, t );
62 return res;
63 }
64
66 };
67
68}
69
70
71#endif
A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in i...
Definition: velocityprofile_dirac.hpp:49
virtual VelocityProfile * Clone() const
Definition: velocityprofile_dirac.hpp:59
void SetProfile(double pos1, double pos2)
Definition: velocityprofile_dirac.cpp:34
double p2
Definition: velocityprofile_dirac.hpp:50
virtual double Duration() const
Definition: velocityprofile_dirac.cpp:51
virtual double Acc(double time) const
Definition: velocityprofile_dirac.cpp:78
virtual double Vel(double time) const
Definition: velocityprofile_dirac.cpp:67
virtual void Write(std::ostream &os) const
Definition: velocityprofile_dirac.cpp:84
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition: velocityprofile_dirac.cpp:45
virtual ~VelocityProfile_Dirac()
Definition: velocityprofile_dirac.hpp:65
virtual double Pos(double time) const
Definition: velocityprofile_dirac.cpp:55
double t
Definition: velocityprofile_dirac.hpp:50
double p1
Definition: velocityprofile_dirac.hpp:50
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:63
Definition: articulatedbodyinertia.cpp:26