A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap: More...

#include <velocity_profile_atrap.h>

Inheritance diagram for pilz_industrial_motion_planner::VelocityProfileATrap:

Collaboration diagram for pilz_industrial_motion_planner::VelocityProfileATrap:

Public Member Functions
	VelocityProfileATrap (double max_vel=0, double max_acc=0, double max_dec=0)
	Constructor.

void	SetProfile (double pos1, double pos2) override
	compute the fastest profile Algorithm:

void	SetProfileDuration (double pos1, double pos2, double duration) override
	Profile scaled by the total duration.

bool	setProfileAllDurations (double pos1, double pos2, double duration1, double duration2, double duration3)
	Profile with given acceleration/constant/deceleration durations. Each duration must obey the maximal velocity/acceleration/deceleration constraints. Otherwise the operation will be ignored. Algorithm:

bool	setProfileStartVelocity (double pos1, double pos2, double vel1)
	Profile with start velocity Note: This function is not general and is currently only used for live control (vel1*(pos2-pos1)>0).

double	firstPhaseDuration () const
	get the time of first phase

double	secondPhaseDuration () const
	get the time of second phase

double	thirdPhaseDuration () const
	get the time of third phase

bool	operator== (const VelocityProfileATrap &other) const
	Compares two Asymmetric Trapezoidal Velocity Profiles.

double	Duration () const override
	Duration.

double	Pos (double time) const override
	Get position at given time.

double	Vel (double time) const override
	Get velocity at given time.

double	Acc (double time) const override
	Get given acceleration/deceleration at given time.

void	Write (std::ostream &os) const override
	Write basic information.

KDL::VelocityProfile *	Clone () const override
	returns copy of current VelocityProfile object

	~VelocityProfileATrap () override

Friends
std::ostream &	operator<< (std::ostream &os, const VelocityProfileATrap &p)

Detailed Description

A PTP Trajectory Generator of Asymmetric Trapezoidal Velocity Profile. Differences to VelocityProfile_Trap:

Maximal acceleration and deceleration can be different, resulting an asymmetric trapezoid shaped velocity profile.
Function to generate full synchronized PTP trajectory is provided.
Function to generate trapezoid shaped velocity profile with start velocity.

Definition at line 51 of file velocity_profile_atrap.h.

Constructor & Destructor Documentation

◆ VelocityProfileATrap()

pilz_industrial_motion_planner::VelocityProfileATrap::VelocityProfileATrap	(	double	max_vel = `0`,
		double	max_acc = `0`,
		double	max_dec = `0`
	)

Constructor.

Parameters

max_vel	maximal velocity (absolute value, always positive)
max_acc	maximal acceleration (absolute value, always positive)
max_dec	maximal deceleration (absolute value, always positive)

Definition at line 39 of file velocity_profile_atrap.cpp.

◆ ~VelocityProfileATrap()

pilz_industrial_motion_planner::VelocityProfileATrap::~VelocityProfileATrap ( )

override

Definition at line 431 of file velocity_profile_atrap.cpp.

Member Function Documentation

◆ Acc()

double pilz_industrial_motion_planner::VelocityProfileATrap::Acc ( double time ) const

override

Get given acceleration/deceleration at given time.

Parameters

time

Returns

Definition at line 360 of file velocity_profile_atrap.cpp.

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◆ Clone()

KDL::VelocityProfile * pilz_industrial_motion_planner::VelocityProfileATrap::Clone ( ) const

override

returns copy of current VelocityProfile object

Returns

Definition at line 384 of file velocity_profile_atrap.cpp.

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◆ Duration()

double pilz_industrial_motion_planner::VelocityProfileATrap::Duration ( ) const

override

Duration.

Returns: total duration of the trajectory

Definition at line 307 of file velocity_profile_atrap.cpp.

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◆ firstPhaseDuration()

double pilz_industrial_motion_planner::VelocityProfileATrap::firstPhaseDuration ( ) const

inline

get the time of first phase

Returns

Definition at line 120 of file velocity_profile_atrap.h.

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◆ operator==()

bool pilz_industrial_motion_planner::VelocityProfileATrap::operator== ( const VelocityProfileATrap & other ) const

Compares two Asymmetric Trapezoidal Velocity Profiles.

Returns: True if equal, false otherwise.

Definition at line 422 of file velocity_profile_atrap.cpp.

◆ Pos()

double pilz_industrial_motion_planner::VelocityProfileATrap::Pos ( double time ) const

override

Get position at given time.

Parameters

time

Returns

Definition at line 312 of file velocity_profile_atrap.cpp.

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◆ secondPhaseDuration()

double pilz_industrial_motion_planner::VelocityProfileATrap::secondPhaseDuration ( ) const

inline

get the time of second phase

Returns

Definition at line 128 of file velocity_profile_atrap.h.

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◆ SetProfile()

void pilz_industrial_motion_planner::VelocityProfileATrap::SetProfile	(	double	pos1,
		double	pos2
	)

override

compute the fastest profile Algorithm:

compute the minimal distance which is needed to reach maximal velocity
if maximal velocity can be reached
- compute the coefficients of the trajectory
if maximal velocity can not be reached
- compute the new velocity can be reached
- compute the coefficients based on this new velocity

Parameters

pos1	start position
pos2	goal position

Definition at line 61 of file velocity_profile_atrap.cpp.

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◆ setProfileAllDurations()

bool pilz_industrial_motion_planner::VelocityProfileATrap::setProfileAllDurations	(	double	pos1,
		double	pos2,
		double	duration1,
		double	duration2,
		double	duration3
	)

Profile with given acceleration/constant/deceleration durations. Each duration must obey the maximal velocity/acceleration/deceleration constraints. Otherwise the operation will be ignored. Algorithm:

compute the maximal velocity of given durations
compute the acceleration and deceleration of given duraitons
if limits are fulfilled
- compute the coefficients
  Parameters
  
  pos1 start position
  
  pos2 goal position
  
  acc_duration time of acceleration phase
  
  const_duration time of constant phase
  
  dec_duration time of deceleration phase
  
  Returns
  true if the combination of three durations is valid

Definition at line 152 of file velocity_profile_atrap.cpp.

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◆ SetProfileDuration()

void pilz_industrial_motion_planner::VelocityProfileATrap::SetProfileDuration	(	double	pos1,
		double	pos2,
		double	duration
	)

override

Profile scaled by the total duration.

Parameters

pos1	start position
pos2	goal position
duration	trajectory duration (must be longer than fastest case, otherwise will be ignored)

Definition at line 129 of file velocity_profile_atrap.cpp.

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◆ setProfileStartVelocity()

bool pilz_industrial_motion_planner::VelocityProfileATrap::setProfileStartVelocity	(	double	pos1,
		double	pos2,
		double	vel1
	)

Profile with start velocity Note: This function is not general and is currently only used for live control (vel1*(pos2-pos1)>0).

Parameters

pos1	start position
pos2	goal position
vel1	start velocity

Returns

Definition at line 207 of file velocity_profile_atrap.cpp.

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◆ thirdPhaseDuration()

double pilz_industrial_motion_planner::VelocityProfileATrap::thirdPhaseDuration ( ) const

inline

get the time of third phase

Returns

Definition at line 136 of file velocity_profile_atrap.h.

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◆ Vel()

double pilz_industrial_motion_planner::VelocityProfileATrap::Vel ( double time ) const

override

Get velocity at given time.

Parameters

time

Returns

Definition at line 336 of file velocity_profile_atrap.cpp.

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◆ Write()

void pilz_industrial_motion_planner::VelocityProfileATrap::Write ( std::ostream & os ) const

override

Write basic information.

Parameters

os

Definition at line 392 of file velocity_profile_atrap.cpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const VelocityProfileATrap &	p
	)

friend

Definition at line 397 of file velocity_profile_atrap.cpp.

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

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/velocity_profile_atrap.h
moveit_planners/pilz_industrial_motion_planner/src/velocity_profile_atrap.cpp

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ VelocityProfileATrap()

◆ ~VelocityProfileATrap()

Member Function Documentation

◆ Acc()

◆ Clone()

◆ Duration()

◆ firstPhaseDuration()

◆ operator==()

◆ Pos()

◆ secondPhaseDuration()

◆ SetProfile()

◆ setProfileAllDurations()

◆ SetProfileDuration()

◆ setProfileStartVelocity()

◆ thirdPhaseDuration()

◆ Vel()

◆ Write()

Friends And Related Symbol Documentation

◆ operator<<