LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::ProfileRamp< Value_ > Class Template Reference

#include <ProfileRamp.hpp>

Inheritance diagram for robot_utils::ProfileRamp< Value_ >:
Inheritance graph

Public Types

typedef Value_ Value
 
typedef Profile< Value_ > Base
 
- Public Types inherited from robot_utils::Profile< Value_ >
typedef Value_ Value
 

Public Member Functions

 ProfileRamp (const Value &startValue, const Value &endValue, double duration)
 
virtual ~ProfileRamp ()
 
virtual Value getValue (double time)
 
virtual Value getValueFirstDerivative (double time)
 
- Public Member Functions inherited from robot_utils::Profile< Value_ >
 Profile (double duration)
 
 Profile (double startTime, double duration)
 
virtual ~Profile ()
 
virtual Value getValueSecondDerivative (double time)
 
virtual void setStartTime (double startTime)
 
double getStartTime () const
 
double getEndTime () const
 
void setDuration (double duration)
 
double getDuration () const
 

Protected Member Functions

Value linearlyInterpolate (const Value &v1, const Value &v2, double t1, double t2, double t)
 

Protected Attributes

Value startValue_
 
Value endValue_
 
- Protected Attributes inherited from robot_utils::Profile< Value_ >
double startTime_
 
double duration_
 

Detailed Description

template<typename Value_>
class robot_utils::ProfileRamp< Value_ >

Ramp profile /— / / —/

Member Typedef Documentation

template<typename Value_ >
typedef Profile<Value_> robot_utils::ProfileRamp< Value_ >::Base
template<typename Value_ >
typedef Value_ robot_utils::ProfileRamp< Value_ >::Value

Constructor & Destructor Documentation

template<typename Value_ >
robot_utils::ProfileRamp< Value_ >::ProfileRamp ( const Value startValue,
const Value endValue,
double  duration 
)
inline
template<typename Value_ >
virtual robot_utils::ProfileRamp< Value_ >::~ProfileRamp ( )
inlinevirtual

Member Function Documentation

template<typename Value_ >
virtual Value robot_utils::ProfileRamp< Value_ >::getValue ( double  time)
inlinevirtual
template<typename Value_ >
virtual Value robot_utils::ProfileRamp< Value_ >::getValueFirstDerivative ( double  time)
inlinevirtual
template<typename Value_ >
Value robot_utils::ProfileRamp< Value_ >::linearlyInterpolate ( const Value v1,
const Value v2,
double  t1,
double  t2,
double  t 
)
inlineprotected

Member Data Documentation

template<typename Value_ >
Value robot_utils::ProfileRamp< Value_ >::endValue_
protected
template<typename Value_ >
Value robot_utils::ProfileRamp< Value_ >::startValue_
protected

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