46 #ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 47 #define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H 92 void SetMax(
double _maxvel,
double _maxacc,
bool _starting );
97 virtual void SetProfile(
double pos1,
double pos2);
111 double pos1,
double pos2,
double newduration
115 virtual double Pos(
double time)
const;
116 virtual double Vel(
double time)
const;
117 virtual double Acc(
double time)
const;
118 virtual void Write(std::ostream& os)
const;
double duration
Definition: velocityprofile_traphalf.hpp:69
virtual double Pos(double time) const
Definition: velocityprofile_traphalf.cpp:141
double a2
Definition: velocityprofile_traphalf.hpp:66
double b3
Definition: velocityprofile_traphalf.hpp:67
double endpos
Definition: velocityprofile_traphalf.hpp:73
virtual double Duration() const
Definition: velocityprofile_traphalf.cpp:137
virtual VelocityProfile * Clone() const
Definition: velocityprofile_traphalf.cpp:182
double startpos
Definition: velocityprofile_traphalf.hpp:72
VelocityProfile_TrapHalf(double _maxvel=0, double _maxacc=0, bool _starting=true)
Definition: velocityprofile_traphalf.cpp:49
virtual ~VelocityProfile_TrapHalf()
Definition: velocityprofile_traphalf.cpp:188
void PlanProfile2(double v, double a)
Definition: velocityprofile_traphalf.cpp:69
double c2
Definition: velocityprofile_traphalf.hpp:68
double a3
Definition: velocityprofile_traphalf.hpp:66
double a1
Definition: velocityprofile_traphalf.hpp:66
double c3
Definition: velocityprofile_traphalf.hpp:68
Definition: articulatedbodyinertia.cpp:28
double c1
Definition: velocityprofile_traphalf.hpp:68
virtual double Acc(double time) const
Definition: velocityprofile_traphalf.cpp:168
A 'Half' Trapezoidal VelocityProfile.
Definition: velocityprofile_traphalf.hpp:63
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:62
double t2
Definition: velocityprofile_traphalf.hpp:70
virtual void SetProfile(double pos1, double pos2)
Can throw a Error_MotionPlanning_Not_Feasible.
Definition: velocityprofile_traphalf.cpp:81
virtual double Vel(double time) const
Definition: velocityprofile_traphalf.cpp:154
double b1
Definition: velocityprofile_traphalf.hpp:67
double maxvel
Definition: velocityprofile_traphalf.hpp:76
double b2
Definition: velocityprofile_traphalf.hpp:67
void SetMax(double _maxvel, double _maxacc, bool _starting)
Definition: velocityprofile_traphalf.cpp:52
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:97
bool starting
Definition: velocityprofile_traphalf.hpp:78
double maxacc
Definition: velocityprofile_traphalf.hpp:77
void PlanProfile1(double v, double a)
Definition: velocityprofile_traphalf.cpp:57
virtual void Write(std::ostream &os) const
Definition: velocityprofile_traphalf.cpp:191
double t1
Definition: velocityprofile_traphalf.hpp:70