velocity_profile_atrap.h

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#pragma once
 
#include <kdl/velocityprofile.hpp>
#include <iostream>
 
namespace pilz_industrial_motion_planner
{
class VelocityProfileATrap : public KDL::VelocityProfile
{
public:
  VelocityProfileATrap(double max_vel = 0, double max_acc = 0, double max_dec = 0);
 
  void SetProfile(double pos1, double pos2) override;
 
  void SetProfileDuration(double pos1, double pos2, double duration) override;
 
  bool setProfileAllDurations(double pos1, double pos2, double duration1, double duration2, double duration3);
 
  bool setProfileStartVelocity(double pos1, double pos2, double vel1);
 
  double firstPhaseDuration() const
  {
    return t_a_;
  }
  double secondPhaseDuration() const
  {
    return t_b_;
  }
  double thirdPhaseDuration() const
  {
    return t_c_;
  }
 
  bool operator==(const VelocityProfileATrap& other) const;
 
  double Duration() const override;
  double Pos(double time) const override;
  double Vel(double time) const override;
  double Acc(double time) const override;
  void Write(std::ostream& os) const override;
  KDL::VelocityProfile* Clone() const override;
 
  friend std::ostream& operator<<(std::ostream& os, const VelocityProfileATrap& p);  // LCOV_EXCL_LINE
 
  ~VelocityProfileATrap() override;
 
private:
  void setEmptyProfile();
 
private:
  const double max_vel_;
  const double max_acc_;
  const double max_dec_;
  double start_pos_;
  double end_pos_;
 
  double start_vel_;
 
  double a1_, a2_, a3_;  
  double b1_, b2_, b3_;  
  double c1_, c2_, c3_;  
 
  double t_a_;  
  double t_b_;  
  double t_c_;  
};
 
std::ostream& operator<<(std::ostream& os,
                         const VelocityProfileATrap& p);  // LCOV_EXCL_LINE
 
}  // namespace pilz_industrial_motion_planner