91 lines
3.3 KiB
C++
91 lines
3.3 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile_rect.h
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velocityprofile_rect.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_rect.h,v 1.1.1.1.2.4 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef MOTIONPROFILE_RECT_H
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#define MOTIONPROFILE_RECT_H
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#include "velocityprofile.hpp"
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namespace KDL {
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/**
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* A rectangular VelocityProfile generates a constant velocity
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* for moving from A to B.
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* @ingroup Motion
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*/
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class VelocityProfile_Rectangular : public VelocityProfile
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// Defines a rectangular velocityprofile.
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// (i.e. constant velocity)
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{
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double d,p,v;
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public:
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double maxvel;
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VelocityProfile_Rectangular(double _maxvel=0):
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maxvel(_maxvel) {}
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// constructs motion profile class with <maxvel> as parameter of the
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// trajectory.
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void SetMax( double _maxvel );
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void SetProfile(double pos1,double pos2);
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virtual void SetProfileDuration(
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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_Rectangular* res = new VelocityProfile_Rectangular(maxvel);
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res->SetProfileDuration( p, p+v*d, d );
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return res;
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}
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// returns copy of current VelocityProfile object. (virtual constructor)
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virtual ~VelocityProfile_Rectangular() {}
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};
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}
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#endif
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