control::TrapezoidalVelocityProfile< dim > Class Template Reference

Trapezoidal velocity profile in multiple dimensions. More...

#include <TrapezoidalVelocityProfile.h>

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

Detailed Description

template<int dim>
class control::TrapezoidalVelocityProfile< dim >

Trapezoidal velocity profile in multiple dimensions.

Motion is coordinated so that all dimensions arrive at the goal at the same time.

Template Parameters

dim	The number of dimensions that are controlled by this profile.

Constructor & Destructor Documentation

TrapezoidalVelocityProfile()

template<int dim>

control::TrapezoidalVelocityProfile< dim >::TrapezoidalVelocityProfile ( double maxVel, double maxAccel )

inline

Construct a new velocity profile object.

Parameters

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

Member Function Documentation

getCommand()

template<int dim>

navtypes::Vectord< dim > control::TrapezoidalVelocityProfile< dim >::getCommand ( robot::types::datatime_t currTime ) const

inline

Get the target position.

Parameters

currTime

The current timestamp.

Returns

navtypes::Vectord<dim> The target position if hasTarget() is true, else 0 vector.

getTotalTime()

template<int dim>

std::optional< util::dseconds > control::TrapezoidalVelocityProfile< dim >::getTotalTime ( ) const

inline

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()

template<int dim>

bool control::TrapezoidalVelocityProfile< dim >::hasTarget ( ) const

inline

Check if a profile has been calculated.

Returns

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

setTarget() [1/2]

template<int dim>

void control::TrapezoidalVelocityProfile< dim >::setTarget ( robot::types::datatime_t currTime, const navtypes::Vectord< dim > & startPos, const navtypes::Vectord< dim > & endPos )

inline

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.

setTarget() [2/2]

template<int dim>

void control::TrapezoidalVelocityProfile< dim >::setTarget ( robot::types::datatime_t currTime, const std::array< double, dim > & startPos, const std::array< double, dim > & endPos )

inline

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 file:

• src/control/TrapezoidalVelocityProfile.h