A trapezoidal velocity spline that operates in 2D, based on the rc_utils::TrapVelSpline class. More...

#include <wak_utils.h>

Public Member Functions
void	reset ()

void	setState (double x, double y)

bool	valid () const

bool	finished () const

double	curX () const

double	curY () const

double	targetX () const

double	targetY () const

void	newTarget (double x, double y, double maxVel, double maxAcc)

void	forward (double dT)

Detailed Description

A trapezoidal velocity spline that operates in 2D, based on the rc_utils::TrapVelSpline class.

Note that the spline velocity is not necessarily continuous if a new target is set before a previous one ends. It is assumed that the total trajectory that is followed is piecewise linear in 2D with zero instantaneous velocities at the cusps.

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