control::SingleDimTrapezoidalVelocityProfile Class Reference

Trapezoidal velocity profile in a single dimension. More...

#include <TrapezoidalVelocityProfile.h>

Public Member Functions
	SingleDimTrapezoidalVelocityProfile (double maxVel, double maxAccel)
	Construct a new velocity profile.
void	setTarget (robot::types::datatime_t currTime, double startPos, double endPos)
	Calculate a profile, assuming the mechanism begins and ends at rest.
bool	hasTarget () const
	Check if a profile has been calculated.
double	getCommand (robot::types::datatime_t currTime) const
	Get the target position.
void	reset ()
	Reset the profile and clear any calculated profile.
std::optional< util::dseconds >	getTotalTime () const
	Get the total time it takes to perform the profile.

Detailed Description

Trapezoidal velocity profile in a single dimension.

See also

https://robotacademy.net.au/lesson/1d-trapezoidal-trajectory/

Constructor & Destructor Documentation

SingleDimTrapezoidalVelocityProfile()

control::SingleDimTrapezoidalVelocityProfile::SingleDimTrapezoidalVelocityProfile	(	double	maxVel,
		double	maxAccel )

Construct a new velocity profile.

Parameters

maxVel	The maximum velocity the profile should attain.
maxAccel	The maximum acceleration the profile should use.

Member Function Documentation

getCommand()

double control::SingleDimTrapezoidalVelocityProfile::getCommand

(

robot::types::datatime_t

currTime

)

const

Get the target position.

Parameters

currTime

The current timestamp.

Returns

double The target position if hasTarget() is true, else 0.

getTotalTime()

std::optional< util::dseconds > control::SingleDimTrapezoidalVelocityProfile::getTotalTime

(

)

const

Get the total time it takes to perform the profile.

Returns

std::optional<util::dseconds> The total time. If hasTarget() is false, returns empty optional.

hasTarget()

bool control::SingleDimTrapezoidalVelocityProfile::hasTarget

(

)

const

Check if a profile has been calculated.

Returns

bool True iff setTarget() has been called since construction or the last reset.

setTarget()

void control::SingleDimTrapezoidalVelocityProfile::setTarget	(	robot::types::datatime_t	currTime,
		double	startPos,
		double	endPos )

Calculate a profile, assuming the mechanism begins and ends at rest.

Parameters

currTime	The current timestamp.
startPos	The position the profile starts at.
endPos	The position the profile ends at.

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

• src/control/TrapezoidalVelocityProfile.h
• src/control/TrapezoidalVelocityProfile.cpp