Klamp't  0.8.1
Public Member Functions | Public Attributes | List of all members
ParabolicRamp::ParabolicRampND Class Reference

Solves for optimal trajectores for a velocity-bounded ND system. More...

#include <ParabolicRamp.h>

Public Member Functions

void SetConstant (const Vector &x, Real t=0)
 
void SetLinear (const Vector &x0, const Vector &x1, Real t)
 
bool SolveMinTimeLinear (const Vector &amax, const Vector &vmax)
 
bool SolveMinTime (const Vector &amax, const Vector &vmax)
 
bool SolveMinAccel (const Vector &vmax, Real time)
 
bool SolveMinAccelLinear (const Vector &vmax, Real time)
 
void SolveBraking (const Vector &amax)
 
void Evaluate (Real t, Vector &x) const
 
void Derivative (Real t, Vector &dx) const
 
void Accel (Real t, Vector &ddx) const
 
void Output (Real dt, std::vector< Vector > &path) const
 
void Dilate (Real timeScale)
 
void TrimFront (Real tcut)
 
void TrimBack (Real tcut)
 
void Bounds (Vector &xmin, Vector &xmax) const
 
void Bounds (Real ta, Real tb, Vector &xmin, Vector &xmax) const
 
void DerivBounds (Vector &vmin, Vector &vmax) const
 
void DerivBounds (Real ta, Real tb, Vector &vmin, Vector &vmax) const
 
bool IsValid () const
 

Public Attributes

Vector x0
 Input.
 
Vector dx0
 
Vector x1
 
Vector dx1
 
Real endTime
 Calculated upon SolveX.
 
std::vector< ParabolicRamp1Dramps
 

Detailed Description

Solves for optimal trajectores for a velocity-bounded ND system.

Methods are essentially the same as for ParabolicRamp1D.


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