137 lines
4.8 KiB
C++
137 lines
4.8 KiB
C++
/***************************************************************************
|
|
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
|