/usr/include/kdl/velocityprofile_traphalf.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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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 contructor 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 3th 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 );
/**
* 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
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