OrderOneTraj Class Reference

Generates a 1DOF order-one trajectory.

#include <TrajGen.hpp>

Inheritance diagram for OrderOneTraj:

Public Member Functions
bool	configure (const double xi, const double xf, const double _T)
bool	configure (const double xi, const double xf, const double xdoti, const double xdotf, const double _T)
double	get (const double ti) const
double	getdot (const double ti) const
double	getdotdot (const double ti) const
bool	maxVelBelow (const double thresVel) const
bool	maxAccBelow (const double thresAcc) const
double	getT () const
void	dump (double samples) const

Private Attributes
double	T
double	m
double	b

Member Function Documentation

configure() [1/2]

bool OrderOneTraj::configure ( const double  xi, const double  xf, const double  _T  )

inlinevirtual

Implements Traj.

configure() [2/2]

bool OrderOneTraj::configure ( const double  xi, const double  xf, const double  xdoti, const double  xdotf, const double  _T  )

inlinevirtual

Implements Traj.

dump()

void OrderOneTraj::dump ( double  samples ) const

inlinevirtual

Implements Traj.

get()

double OrderOneTraj::get ( const double  ti ) const

inlinevirtual

Implements Traj.

getdot()

double OrderOneTraj::getdot ( const double  ti ) const

inlinevirtual

Implements Traj.

getdotdot()

double OrderOneTraj::getdotdot ( const double  ti ) const

inlinevirtual

Implements Traj.

getT()

double OrderOneTraj::getT ( ) const

inlinevirtual

Implements Traj.

maxAccBelow()

bool OrderOneTraj::maxAccBelow ( const double  thresAcc ) const

inlinevirtual

Implements Traj.

maxVelBelow()

bool OrderOneTraj::maxVelBelow ( const double  thresVel ) const

inlinevirtual

Implements Traj.

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

• libraries/YarpPlugins/AsibotSolver/TrajGen.hpp