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/***************************************************************************
tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 velocityprofile_traphalf.cxx
velocityprofile_traphalf.cxx - description
-------------------
begin : Mon May 10 2004
copyright : (C) 2004 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.cpp,v 1.1.1.1.2.5 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
//#include "error.h"
#include "velocityprofile_traphalf.hpp"
namespace KDL {
VelocityProfile_TrapHalf::VelocityProfile_TrapHalf(double _maxvel,double _maxacc,bool _starting):
maxvel(_maxvel),maxacc(_maxacc),starting(_starting) {}
void VelocityProfile_TrapHalf::SetMax(double _maxvel,double _maxacc, bool _starting)
{
maxvel = _maxvel; maxacc = _maxacc; starting = _starting;
}
void VelocityProfile_TrapHalf::PlanProfile1(double v,double a) {
a3 = 0;
a2 = 0;
a1 = startpos;
b3 = a/2;
b2 = -a*t1;
b1 = startpos + a2*t1*t1/2;
c3 = 0;
c2 = v;
c1 = endpos - v*duration;
}
void VelocityProfile_TrapHalf::PlanProfile2(double v,double a) {
a3 = 0;
a2 = v;
a1 = startpos;
b3 = -a/2;
b2 = a*t2;
b1 = endpos - a*t2*t2/2;
c3 = 0;
c2 = 0;
c1 = endpos;
}
void VelocityProfile_TrapHalf::SetProfile(double pos1,double pos2) {
startpos = pos1;
endpos = pos2;
double s = sign(endpos-startpos);
duration = s*(endpos-startpos)/maxvel+maxvel/maxacc/2.0;
if (starting) {
t1 = 0;
t2 = maxvel/maxacc;
PlanProfile1(maxvel*s,maxacc*s);
} else {
t1 = duration-maxvel/maxacc;
t2 = duration;
PlanProfile2(s*maxvel,s*maxacc);
}
}
void VelocityProfile_TrapHalf::SetProfileDuration(
double pos1,double pos2,double newduration)
{
SetProfile(pos1,pos2);
double factor = duration/newduration;
if ( factor > 1 )
return;
double s = sign(endpos-startpos);
double tmp = 2.0*s*(endpos-startpos)/maxvel;
double v = s*maxvel;
duration = newduration;
if (starting) {
if (tmp > duration) {
t1 = 0;
double a = v*v/2.0/(v*duration-(endpos-startpos));
t2 = v/a;
PlanProfile1(v,a);
} else {
t2 = duration;
double a = v*v/2.0/(endpos-startpos);
t1 = t2-v/a;
PlanProfile1(v,a);
}
} else {
if (tmp > duration) {
t2 = duration;
double a = v*v/2.0/(v*duration-(endpos-startpos));
t1 = t2-v/a;
PlanProfile2(v,a);
} else {
double a = v*v/2.0/(endpos-startpos);
t1 = 0;
t2 = v/a;
PlanProfile2(v,a);
}
}
}
double VelocityProfile_TrapHalf::Duration() const {
return duration;
}
double VelocityProfile_TrapHalf::Pos(double time) const {
if (time < 0) {
return startpos;
} else if (time<t1) {
return a1+time*(a2+a3*time);
} else if (time<t2) {
return b1+time*(b2+b3*time);
} else if (time<=duration) {
return c1+time*(c2+c3*time);
} else {
return endpos;
}
}
double VelocityProfile_TrapHalf::Vel(double time) const {
if (time < 0) {
return 0;
} else if (time<t1) {
return a2+2*a3*time;
} else if (time<t2) {
return b2+2*b3*time;
} else if (time<=duration) {
return c2+2*c3*time;
} else {
return 0;
}
}
double VelocityProfile_TrapHalf::Acc(double time) const {
if (time < 0) {
return 0;
} else if (time<t1) {
return 2*a3;
} else if (time<t2) {
return 2*b3;
} else if (time<=duration) {
return 2*c3;
} else {
return 0;
}
}
VelocityProfile* VelocityProfile_TrapHalf::Clone() const {
VelocityProfile_TrapHalf* res = new VelocityProfile_TrapHalf(maxvel,maxacc, starting);
res->SetProfileDuration( this->startpos, this->endpos, this->duration );
return res;
}
VelocityProfile_TrapHalf::~VelocityProfile_TrapHalf() {}
void VelocityProfile_TrapHalf::Write(std::ostream& os) const {
os << "TRAPEZOIDALHALF[" << maxvel << "," << maxacc << "," << starting << "]";
}
}
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