143 lines
4.6 KiB
C++
143 lines
4.6 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_trap.h
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velocityprofile_trap.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: velocityprofile_trap.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_MOTION_VELOCITYPROFILE_TRAP_H
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#define KDL_MOTION_VELOCITYPROFILE_TRAP_H
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#include "velocityprofile.hpp"
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namespace KDL {
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/**
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* A Trapezoidal VelocityProfile implementation.
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* @ingroup Motion
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*/
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class VelocityProfile_Trap : public VelocityProfile
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{
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// For "running" a motion profile :
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double a1,a2,a3; // coef. from ^0 -> ^2 of first part
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double b1,b2,b3; // of 2nd part
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double c1,c2,c3; // of 3rd part
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double duration;
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double t1,t2;
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// specification of the motion profile :
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double maxvel;
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double maxacc;
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double startpos;
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double endpos;
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public:
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VelocityProfile_Trap(double _maxvel=0,double _maxacc=0);
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// constructs motion profile class with <maxvel> and <maxacc> as parameters of the
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// trajectory.
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virtual void SetProfile(double pos1,double pos2);
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virtual void SetProfileDuration(
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double pos1,double pos2,double newduration
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);
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/** Compute trapezoidal profile at a given fraction of max velocity
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@param pos1 Position to start from
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@param pos2 Position to end at
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@param newvelocity Fraction of max velocity to use during the
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non-ramp, flat-velocity part of the profile.
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@param KDL::epsilon <= newvelocity <= 1.0 (forcibly clamped to
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this range internally)
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*/
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virtual void SetProfileVelocity(
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double pos1,double pos2,double newvelocity
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);
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virtual void SetMax(double _maxvel,double _maxacc);
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virtual double Duration() const;
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virtual double Pos(double time) const;
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virtual double Vel(double time) const;
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virtual double Acc(double time) const;
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virtual void Write(std::ostream& os) const;
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virtual VelocityProfile* Clone() const;
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// returns copy of current VelocityProfile object. (virtual constructor)
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virtual ~VelocityProfile_Trap();
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};
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/* Niet OK
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class VelocityProfile_Trap : public VelocityProfile {
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double maxvel;
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double maxacc;
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double _t1,_t2,_T,c1,c2,c3,c4,c5,c6,c7,c8,c9,c10;
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void PrepTraj(double p1,double v1,double p2,double v2,
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double acc,double vel,double t1,double t2,double T);
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// Internal method. Sets the parameters <_t1>,..<c10> with the given
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// arguments.
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public:
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VelocityProfile_Trap(double _maxvel,double _maxacc):
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maxvel(_maxvel),maxacc(_maxacc) {}
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// constructs motion profile class with max velocity <maxvel>,
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// and max acceleration <maxacc> as parameter of the
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// trajectory.
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void SetProfile(double pos1,double pos2);
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virtual void SetProfileDuration(double pos1,double pos2,double duration);
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virtual double Duration() ;
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virtual double Pos(double time);
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virtual double Vel(double time);
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};
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*/
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}
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#endif
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