44 #ifndef MOTIONPROFILE_RECT_H
45 #define MOTIONPROFILE_RECT_H
69 void SetMax(
double _maxvel );
72 double pos1,
double pos2,
double duration);
74 virtual double Pos(
double time)
const;
75 virtual double Vel(
double time)
const;
76 virtual double Acc(
double time)
const;
77 virtual void Write(std::ostream& os)
const;
A rectangular VelocityProfile generates a constant velocity for moving from A to B.
Definition: velocityprofile_rect.hpp:59
void SetMax(double _maxvel)
Definition: velocityprofile_rect.cpp:70
virtual double Vel(double time) const
Definition: velocityprofile_rect.cpp:111
virtual VelocityProfile * Clone() const
Definition: velocityprofile_rect.hpp:78
double maxvel
Definition: velocityprofile_rect.hpp:62
virtual ~VelocityProfile_Rectangular()
Definition: velocityprofile_rect.hpp:84
virtual double Duration() const
Definition: velocityprofile_rect.cpp:97
double p
Definition: velocityprofile_rect.hpp:60
virtual double Pos(double time) const
Definition: velocityprofile_rect.cpp:101
virtual void Write(std::ostream &os) const
Definition: velocityprofile_rect.cpp:127
double d
Definition: velocityprofile_rect.hpp:60
virtual void SetProfileDuration(double pos1, double pos2, double duration)
Definition: velocityprofile_rect.cpp:77
VelocityProfile_Rectangular(double _maxvel=0)
Definition: velocityprofile_rect.hpp:64
void SetProfile(double pos1, double pos2)
Definition: velocityprofile_rect.cpp:49
double v
Definition: velocityprofile_rect.hpp:60
virtual double Acc(double time) const
Definition: velocityprofile_rect.cpp:121
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:63
Definition: articulatedbodyinertia.cpp:26