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/***************************************************************************
tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 velocityprofile.h
velocityprofile.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.h,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_VELOCITYPROFILE_H
#define KDL_VELOCITYPROFILE_H
#include "utilities/utility.h"
#include "utilities/utility_io.h"
namespace KDL {
/**
* A VelocityProfile stores the velocity profile that
* is used within a trajectory. A velocity profile is the function that
* expresses position, velocity and acceleration of a point on a curve
* in function of time. It defines the how a point s moves on a path S.
* @ingroup Motion
*/
class VelocityProfile
{
public:
// trajectory parameters are set in constructor of
// derived class
virtual void SetProfile(double pos1,double pos2) = 0;
// sets a trajectory from pos1 to pos2 as fast as possible
virtual void SetProfileDuration(
double pos1,double pos2,double duration) = 0;
// Sets a trajectory from pos1 to pos2 in <duration> seconds.
// @post new.Duration() will not be shorter than the one obtained
// from SetProfile(pos1,pos2).
virtual double Duration() const = 0;
// returns the duration of the motion in [sec]
virtual double Pos(double time) const = 0;
// returns the position at <time> in the units of the input
// of the constructor of the derived class.
virtual double Vel(double time) const = 0;
// returns the velocity at <time> in the units of the input
// of the constructor of the derived class.
virtual double Acc(double time) const = 0;
// returns the acceleration at <time> in the units of the input
// of the constructor of the derived class.
virtual void Write(std::ostream& os) const = 0;
// Writes object to a stream.
static VelocityProfile* Read(std::istream& is);
// reads a VelocityProfile object from the stream and returns it.
virtual VelocityProfile* Clone() const = 0;
// returns copy of current VelocityProfile object. (virtual constructor)
virtual ~VelocityProfile() {}
};
}
#endif
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