KDL 1.5.1
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velocityprofile_spline.hpp
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1#ifndef VELOCITYPROFILE_SPLINE_H
2#define VELOCITYPROFILE_SPLINE_H
3
4#include "velocityprofile.hpp"
5
6namespace KDL
7{
13{
14public:
17
19
20 virtual void SetProfile(double pos1, double pos2);
28 virtual void SetProfileDuration(
29 double pos1, double pos2, double duration);
30
40 virtual void SetProfileDuration(
41 double pos1, double vel1, double pos2, double vel2, double duration);
42
54 virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, double duration);
55 virtual double Duration() const;
56 virtual double Pos(double time) const;
57 virtual double Vel(double time) const;
58 virtual double Acc(double time) const;
59 virtual void Write(std::ostream& os) const;
60 virtual VelocityProfile* Clone() const;
61private:
62
63 double coeff_[6];
64 double duration_;
65};
66}
67#endif // VELOCITYPROFILE_CUBICSPLINE_H
A spline VelocityProfile trajectory interpolation.
Definition: velocityprofile_spline.hpp:13
virtual void SetProfile(double pos1, double pos2)
Definition: velocityprofile_spline.cpp:51
virtual ~VelocityProfile_Spline()
Definition: velocityprofile_spline.cpp:46
VelocityProfile_Spline()
Definition: velocityprofile_spline.cpp:18
virtual double Acc(double time) const
Definition: velocityprofile_spline.cpp:171
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Generate linear interpolation coefficients.
Definition: velocityprofile_spline.cpp:56
virtual void Write(std::ostream &os) const
Definition: velocityprofile_spline.cpp:184
virtual VelocityProfile * Clone() const
Definition: velocityprofile_spline.cpp:190
virtual double Vel(double time) const
Definition: velocityprofile_spline.cpp:157
virtual double Duration() const
Definition: velocityprofile_spline.cpp:137
virtual double Pos(double time) const
Definition: velocityprofile_spline.cpp:142
double duration_
Definition: velocityprofile_spline.hpp:64
double coeff_[6]
Definition: velocityprofile_spline.hpp:63
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:63
Definition: articulatedbodyinertia.cpp:26