instance structure for bell-shaped velocity trajectory More...

#include <trajbell.h>

Public Member Functions
a_real	gen (a_real jm_, a_real am_, a_real vm_, a_real p0_, a_real p1_, a_real v0_=0, a_real v1_=0)
a_real	pos (a_real x) const
a_real	vel (a_real x) const
a_real	acc (a_real x) const
a_real	jer (a_real x) const

Data Fields
a_real	t
a_real	tv
a_real	ta
a_real	td
a_real	taj
a_real	tdj
a_real	p0
a_real	p1
a_real	v0
a_real	v1
a_real	vm
a_real	jm
a_real	am
a_real	dm

Detailed Description

instance structure for bell-shaped velocity trajectory

Field Documentation

◆ am

a_real a_trajbell::am

maximum acceleration

◆ dm

a_real a_trajbell::dm

maximum deceleration

◆ jm

a_real a_trajbell::jm

maximum jerk

◆ p0

a_real a_trajbell::p0

initial position

◆ p1

a_real a_trajbell::p1

final position

◆ t

a_real a_trajbell::t

total duration

◆ ta

a_real a_trajbell::ta

acceleration phase

◆ taj

a_real a_trajbell::taj

time-interval in which the jerk is constant (j max or j min ) during the acceleration phase

◆ td

a_real a_trajbell::td

deceleration phase

◆ tdj

a_real a_trajbell::tdj

time-interval in which the jerk is constant (j max or j min ) during the deceleration phase

◆ tv

a_real a_trajbell::tv

constant velocity phase

◆ v0

a_real a_trajbell::v0

initial velocity

◆ v1

a_real a_trajbell::v1

final velocity

◆ vm

a_real a_trajbell::vm

maximum velocity

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

trajbell.h

Public Member Functions

Data Fields