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_rect.hpp
+++ b/kdl_install/include/kdl/velocityprofile_rect.hpp
@@ -0,0 +1,90 @@
+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  velocityprofile_rect.h
+
+                        velocityprofile_rect.h -  description
+                           -------------------
+    begin                : Mon January 10 2005
+    copyright            : (C) 2005 Erwin Aertbelien
+    email                : erwin.aertbelien@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                                *
+ *                                                                         *
+ ***************************************************************************/
+
+
+/*****************************************************************************
+ *  \author
+ *  	Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
+ *
+ *  \version
+ *		ORO_Geometry V0.2
+ *
+ *	\par History
+ *		- $log$
+ *
+ *	\par Release
+ *		$Id: velocityprofile_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
+ *		$Name:  $
+ ****************************************************************************/
+
+#ifndef MOTIONPROFILE_RECT_H
+#define MOTIONPROFILE_RECT_H
+
+#include "velocityprofile.hpp"
+
+
+namespace KDL {
+	/**
+	 * A rectangular VelocityProfile generates a constant velocity
+	 * for moving from A to B.
+	 * @ingroup Motion
+	 */
+	class VelocityProfile_Rectangular : public VelocityProfile
+		// Defines a rectangular velocityprofile.
+		// (i.e. constant velocity)
+	{
+		double d,p,v;
+	public:
+		double maxvel;
+
+		VelocityProfile_Rectangular(double _maxvel=0):
+		  maxvel(_maxvel) {}
+		// constructs motion profile class with <maxvel> as parameter of the
+		// trajectory.
+
+		void SetMax( double _maxvel );
+		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_Rectangular* res =  new VelocityProfile_Rectangular(maxvel);
+			res->SetProfileDuration( p, p+v*d, d );
+			return res;
+		}
+		// returns copy of current VelocityProfile object. (virtual constructor)
+		virtual ~VelocityProfile_Rectangular() {}
+	};
+
+}
+
+
+#endif