/usr/include/kdl/velocityprofile_dirac.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 | /***************************************************************************
tag: Peter Soetens Fri Feb 11 15:59:12 CET 2005 velocityprofile_dirac.h
velocityprofile_dirac.h - description
-------------------
begin : Fri February 11 2005
copyright : (C) 2005 Peter Soetens
email : peter.soetens@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 *
* *
***************************************************************************/
#ifndef MOTIONPROFILE_DIRAC_H
#define MOTIONPROFILE_DIRAC_H
#include "velocityprofile.hpp"
namespace KDL {
/**
* 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;
* @ingroup Motion
*/
class VelocityProfile_Dirac : public VelocityProfile
{
double p1,p2,t;
public:
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 {
VelocityProfile_Dirac* res = new VelocityProfile_Dirac();
res->SetProfileDuration( p1, p2, t );
return res;
}
virtual ~VelocityProfile_Dirac() {}
};
}
#endif
|