1 #ifndef TRAPEZOID_PROFILE_H_
2 #define TRAPEZOID_PROFILE_H_
4 #include "MotionProfile.h"
6 class TrapezoidProfile :
public MotionProfile
9 TrapezoidProfile(
double maxV,
double timeToMaxV);
11 virtual double update(
double currentTime);
12 virtual void setSetpoint(
double setpoint,
double time);
13 void updateValues(
double maxV,
double timeToMaxV);
21 double m_startingTime;