#include <TrajControl.h>
Public Member Functions | |
DFLIn () | |
Default constructor. | |
DFLIn (Pose &rP, Pose &rDP, Position &desP, Position &desDP, Position &desDDP, Decimal tos=0.0) | |
Parametrical constructor. | |
DFLIn (DFLIn &other) | |
Copy constructor. | |
DFLIn | operator= (DFLIn &other) |
Assignment operator=. | |
void | setRobotDPose (Pose &p) |
Sets the first derivative of the pose of the robot (dx dy dtheta). | |
void | setDesiredDDPosition (Position &p) |
Sets the desired second derivative of the position. | |
void | setTimeOfSampling (Decimal tos) |
Sets the time of sampling. | |
Pose | robotDPose () |
Gets the first derivative of the pose of the robot (dx dy dtheta). | |
Position | desiredDDPosition () |
Gets the desired second derivative of the position. | |
Decimal | timeOfSampling () |
Gets the time of sampling. |
DFLIn::DFLIn | ( | ) |
Default constructor.
DFLIn::DFLIn | ( | Pose & | rP, | |
Pose & | rDP, | |||
Position & | desP, | |||
Position & | desDP, | |||
Position & | desDDP, | |||
Decimal | tos = 0.0 | |||
) |
Parametrical constructor.
[in] | &rP | Robot pose. |
[in] | &rDP | First derivative of the robot pose. |
[in] | &desP | Desired position. |
[in] | &desDP | First derivative of the desired position. |
[in] | &desDDP | Second derivative of the desired position. |
[in] | tos | Time of sampling. |
void DFLIn::setRobotDPose | ( | Pose & | p | ) |
Sets the first derivative of the pose of the robot (dx dy dtheta).
[in] | &p | Pose to be set. |
void DFLIn::setDesiredDDPosition | ( | Position & | p | ) |
void DFLIn::setTimeOfSampling | ( | Decimal | tos | ) |
Sets the time of sampling.
[in] | tos | Value to be set. |
Pose DFLIn::robotDPose | ( | ) |
Gets the first derivative of the pose of the robot (dx dy dtheta).
Position DFLIn::desiredDDPosition | ( | ) |
Gets the desired second derivative of the position.
Decimal DFLIn::timeOfSampling | ( | ) |
Gets the time of sampling.