VelRampProfile Class Reference

velocity ramp profile More...

#include <VelRampProfile.hpp>

Public Types
typedef std::pair< double, double >	Range
	Over and upper limit.

Public Member Functions
	VelRampProfile (const std::vector< Range > &poslimits, const std::vector< Range > &vellimits, const std::vector< Range > &acclimits)
	constructor More...
	~VelRampProfile ()
	deconstructor
rw::math::Q	getVelocity (const rw::math::Q &goal, const rw::math::Q &pos, const rw::math::Q &vel, double dt) const
	Returns the velocity needed for moving towards goal, when having the current position \(pos\) and velocity \(vel\). More...

Detailed Description

velocity ramp profile

Constructor & Destructor Documentation

VelRampProfile()

VelRampProfile	(	const std::vector< Range > &	poslimits,
		const std::vector< Range > &	vellimits,
		const std::vector< Range > &	acclimits
	)

constructor

Parameters

poslimits	[in] The lower and upper position limits
vellimits	[in] The lower and upper velocity limits
acclimits	[in] The lower and upper accelleration limits

Member Function Documentation

getVelocity()

rw::math::Q getVelocity	(	const rw::math::Q &	goal,
		const rw::math::Q &	pos,
		const rw::math::Q &	vel,
		double	dt
	)		const

Returns the velocity needed for moving towards goal, when having the current position \(pos\) and velocity \(vel\).

Parameters

goal	[in] the goal
pos	[in] the current position
vel	[in] the current velocity
dt	[in] time interval

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

• VelRampProfile.hpp