提交依赖与构建产物

2026-06-27 09:25:04 -04:00
parent 2817cba164
commit f0e96308d2
1300 changed files with 844236 additions and 0 deletions
--- a/kdl_install/include/kdl/velocityprofile_dirac.hpp
+++ b/kdl_install/include/kdl/velocityprofile_dirac.hpp
@@ -0,0 +1,71 @@
+/***************************************************************************
+  tag: Peter Soetens  Fri Feb 11 15:59:12 CET 2005  velocityprofile_dirac.h
+
+                        velocityprofile_dirac.h -  description
+                           -------------------
+    begin                : Fri February 11 2005
+    copyright            : (C) 2005 Peter Soetens
+    email                : peter.soetens@mech.kuleuven.ac.be
+
+ ***************************************************************************
+ *   This library is free software; you can redistribute it and/or         *
+ *   modify it under the terms of the GNU Lesser General Public            *
+ *   License as published by the Free Software Foundation; either          *
+ *   version 2.1 of the License, or (at your option) any later version.    *
+ *                                                                         *
+ *   This library is distributed in the hope that it will be useful,       *
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
+ *   Lesser General Public License for more details.                       *
+ *                                                                         *
+ *   You should have received a copy of the GNU Lesser General Public      *
+ *   License along with this library; if not, write to the Free Software   *
+ *   Foundation, Inc., 59 Temple Place,                                    *
+ *   Suite 330, Boston, MA  02111-1307  USA                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+#ifndef MOTIONPROFILE_DIRAC_H
+#define MOTIONPROFILE_DIRAC_H
+
+#include "velocityprofile.hpp"
+
+
+namespace KDL {
+    /**
+     * A Dirac VelocityProfile generates an infinite velocity
+     * so that the position jumps from A to B in in infinite short time.
+     * In practice, this means that the maximum values are ignored and
+     * for any t : Vel(t) == 0 and Acc(t) == 0.
+     * Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.
+     *
+     * However, if a duration is given, it will create an unbound
+     * rectangular velocity profile for that duration, otherwise,
+     * Duration() == 0;
+     * @ingroup Motion
+     */
+    class VelocityProfile_Dirac : public VelocityProfile
+    {
+        double p1,p2,t;
+    public:
+        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 {
+            VelocityProfile_Dirac* res =  new VelocityProfile_Dirac();
+            res->SetProfileDuration( p1, p2, t );
+            return res;
+        }
+
+        virtual ~VelocityProfile_Dirac() {}
+    };
+
+}
+
+
+#endif