A wrapper class for the trapezoidal velocity spline class rc_utils::TrapVelSpline with a focus on smoothly supporting live updates of the spline. More...

#include <wak_utils.h>

Public Member Functions
void	reset ()

void	setState (double x, double v=0.0)

bool	valid () const

bool	finished () const

double	curX () const

double	curV () const

void	newTarget (double x, double v, double maxVel, double maxAcc, bool ctsVel=true)

double	forward (double dT)

Detailed Description

A wrapper class for the trapezoidal velocity spline class rc_utils::TrapVelSpline with a focus on smoothly supporting live updates of the spline.

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

/home/hafez/Codes/Mine/humanoid_op_ros/src/nimbro/behaviour/walk_and_kick/include/walk_and_kick/wak_utils.h

Public Member Functions

Detailed Description