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kdl_install/include/kdl/velocityprofile_spline.hpp

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+#ifndef VELOCITYPROFILE_SPLINE_H
+#define VELOCITYPROFILE_SPLINE_H
+
+#include "velocityprofile.hpp"
+
+namespace KDL
+{
+	/**
+	 * \brief A spline VelocityProfile trajectory interpolation.
+	 * @ingroup Motion
+	 */
+class VelocityProfile_Spline : public VelocityProfile
+{
+public:
+    VelocityProfile_Spline();
+    VelocityProfile_Spline(const VelocityProfile_Spline &p);
+
+	virtual ~VelocityProfile_Spline();
+
+    virtual void SetProfile(double pos1, double pos2);
+    /**
+     * Generate linear interpolation coefficients.
+     *
+     * @param pos1 begin position.
+     * @param pos2 end position.
+     * @param duration duration of the profile.
+     */
+    virtual void SetProfileDuration(
+      double pos1, double pos2, double duration);
+
+    /**
+     * Generate cubic spline interpolation coefficients.
+     *
+     * @param pos1 begin position.
+     * @param vel1 begin velocity.
+     * @param pos2 end position.
+     * @param vel2 end velocity.
+     * @param duration duration of the profile.
+     */
+    virtual void SetProfileDuration(
+      double pos1, double vel1, double pos2, double vel2, double duration);
+
+    /**
+     * Generate quintic spline interpolation coefficients.
+     *
+     * @param pos1 begin position.
+     * @param vel1 begin velocity.
+     * @param acc1 begin acceleration
+     * @param pos2 end position.
+     * @param vel2 end velocity.
+     * @param acc2 end acceleration.
+     * @param duration duration of the profile.
+     */
+    virtual void SetProfileDuration(double pos1, double vel1, double acc1, double pos2, double vel2, double acc2, 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;
+private:
+
+    double coeff_[6];
+    double duration_;
+};
+}
+#endif // VELOCITYPROFILE_CUBICSPLINE_H