KDL::VelocityProfile_Dirac Class Reference

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...

#include <src/velocityprofile_dirac.hpp>

Inheritance diagram for KDL::VelocityProfile_Dirac:

Collaboration diagram for KDL::VelocityProfile_Dirac:

Public Member Functions
void	SetProfile (double pos1, double pos2)
virtual void	SetProfileDuration (double pos1, double pos2, double duration)
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_Dirac ()

Static Public Member Functions
static VelocityProfile *	Read (std::istream &is)

Private Attributes
double	p1
double	p2
double	t

Detailed Description

A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time.

In practice, this means that the maximum values are ignored and for any t : Vel(t) == 0 and Acc(t) == 0. Further Pos( -0 ) = pos1 and Pos( +0 ) = pos2.

However, if a duration is given, it will create an unbound rectangular velocity profile for that duration, otherwise, Duration() == 0;

Constructor & Destructor Documentation

~VelocityProfile_Dirac()

virtual KDL::VelocityProfile_Dirac::~VelocityProfile_Dirac ( )

inlinevirtual

Member Function Documentation

Acc()

double KDL::VelocityProfile_Dirac::Acc ( double time ) const

virtual

Implements KDL::VelocityProfile.

Clone()

virtual VelocityProfile * KDL::VelocityProfile_Dirac::Clone ( ) const

inlinevirtual

Implements KDL::VelocityProfile.

References p1, p2, SetProfileDuration(), and t.

Duration()

double KDL::VelocityProfile_Dirac::Duration ( ) const

virtual

Implements KDL::VelocityProfile.

References t.

Pos()

double KDL::VelocityProfile_Dirac::Pos ( double time ) const

virtual

Implements KDL::VelocityProfile.

References p1, p2, and t.

Read()

VelocityProfile * KDL::VelocityProfile::Read ( std::istream & is )

staticinherited

Referenced by KDL::Trajectory::Read().

SetProfile()

void KDL::VelocityProfile_Dirac::SetProfile ( double pos1, double pos2 )

virtual

Implements KDL::VelocityProfile.

References p1, p2, and t.

Referenced by SetProfileDuration().

SetProfileDuration()

void KDL::VelocityProfile_Dirac::SetProfileDuration ( double pos1, double pos2, double duration )

virtual

Implements KDL::VelocityProfile.

References SetProfile(), and t.

Referenced by Clone().

Vel()

double KDL::VelocityProfile_Dirac::Vel ( double time ) const

virtual

Implements KDL::VelocityProfile.

References p1, p2, and t.

Write()

void KDL::VelocityProfile_Dirac::Write ( std::ostream & os ) const

virtual

Implements KDL::VelocityProfile.

Member Data Documentation

p1

double KDL::VelocityProfile_Dirac::p1

private

Referenced by Clone(), Pos(), SetProfile(), and Vel().

p2

double KDL::VelocityProfile_Dirac::p2

private

Referenced by Clone(), Pos(), SetProfile(), and Vel().

t

double KDL::VelocityProfile_Dirac::t

private

Referenced by Clone(), Duration(), Pos(), SetProfile(), SetProfileDuration(), and Vel().

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The documentation for this class was generated from the following files:

• src/velocityprofile_dirac.hpp
• src/velocityprofile_dirac.cpp