72 lines
3.0 KiB
C++
72 lines
3.0 KiB
C++
/***************************************************************************
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tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
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velocityprofile_dirac.h - description
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-------------------
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begin : Fri February 11 2005
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copyright : (C) 2005 Peter Soetens
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email : peter.soetens@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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#ifndef MOTIONPROFILE_DIRAC_H
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#define MOTIONPROFILE_DIRAC_H
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#include "velocityprofile.hpp"
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namespace KDL {
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/**
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* A Dirac VelocityProfile generates an infinite velocity
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* so that the position jumps from A to B in in infinite short time.
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* In practice, this means that the maximum values are ignored and
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* for any t : Vel(t) == 0 and Acc(t) == 0.
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* Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.
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*
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* However, if a duration is given, it will create an unbound
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* rectangular velocity profile for that duration, otherwise,
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* Duration() == 0;
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* @ingroup Motion
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*/
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class VelocityProfile_Dirac : public VelocityProfile
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{
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double p1,p2,t;
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public:
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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() 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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VelocityProfile_Dirac* res = new VelocityProfile_Dirac();
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res->SetProfileDuration( p1, p2, t );
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return res;
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}
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virtual ~VelocityProfile_Dirac() {}
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};
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}
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#endif
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