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_traphalf.hpp
+++ b/kdl_install/include/kdl/velocityprofile_traphalf.hpp
@@ -0,0 +1,136 @@
+/***************************************************************************
+  tag: Erwin Aertbelien  Mon Jan 10 16:38:38 CET 2005  velocityprofile_traphalf.h
+
+                        velocityprofile_traphalf.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_traphalf.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
+ *		$Name:  $
+ *  \par Status
+ *      Experimental
+ ****************************************************************************/
+
+#ifndef KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
+#define KDL_MOTION_VELOCITYPROFILE_TRAPHALF_H
+
+#include "velocityprofile.hpp"
+
+
+
+
+namespace KDL {
+
+
+	/**
+	 * A 'Half' Trapezoidal VelocityProfile. A constructor flag
+	 * indicates if the calculated profile should be starting
+	 * or ending.
+	 * @ingroup Motion
+	 */
+class VelocityProfile_TrapHalf : public VelocityProfile
+	{
+		// For "running" a motion profile :
+		double a1,a2,a3; // coef. from ^0 -> ^2 of first part
+		double b1,b2,b3; // of 2nd part
+		double c1,c2,c3; // of 3rd part
+		double duration;
+		double t1,t2;
+
+		double startpos;
+		double endpos;
+
+		// Persistent state :
+		double maxvel;
+		double maxacc;
+		bool   starting;
+
+		void PlanProfile1(double v,double a);
+		void PlanProfile2(double v,double a);
+	public:
+
+		/**
+		 * \param maxvel maximal velocity of the motion profile (positive)
+		 * \param maxacc maximal acceleration of the motion profile (positive)
+		 * \param starting this value is true when initial velocity is zero
+		 *        and ending velocity is maxvel, is false for the reverse
+		 */
+		VelocityProfile_TrapHalf(double _maxvel=0,double _maxacc=0,bool _starting=true);
+
+		void SetMax(double _maxvel,double _maxacc,bool _starting);
+
+		/**
+		 * Plans a 'Half' Trapezoidal VelocityProfile between pos1 and pos2.
+		 * If the distance is too short between pos1 and pos2,
+		 * only the acceleration phase is set and the max velocity is not reached.
+		 *
+		 * \param pos1 Starting position
+		 * \param pos2 Ending position
+		 *
+		 * Can throw a Error_MotionPlanning_Not_Feasible
+		 */
+		virtual void SetProfile(double pos1,double pos2);
+
+		/**
+		 * Can be used to prolong the profile, there are two possible outcomes: in a first
+		 * phase the acceleration is lowered as such that the end position and maximum velocity
+		 * are reached at the given duration (newduration). In this case there is an acceleration part and a constant velocity part,
+		 * when this reaches a minimum acceleration value at which the constant part disappears, the motion is stalled,
+		 * in this case their is a non-motion part and an acceleration part.
+		 *
+		 *\param pos1 starting position
+		 *\param pos2 ending position
+		 *\param newduration the desired duration, if it is lower than the minimum duration, the minimum duration will be used instead of the given duration.
+		 */
+		virtual void SetProfileDuration(
+			double pos1,double pos2,double newduration
+		);
+
+		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;
+
+		virtual ~VelocityProfile_TrapHalf();
+	};
+
+
+
+}
+
+
+#endif