a_trajbell Struct Reference

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

#include <trajbell.h>

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

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

Detailed Description

instance structure for bell-shaped velocity trajectory

Field Documentation

am

a_float a_trajbell::am

maximum acceleration

dm

a_float a_trajbell::dm

maximum deceleration

jm

a_float a_trajbell::jm

maximum jerk

p0

a_float a_trajbell::p0

initial position

p1

a_float a_trajbell::p1

final position

t

a_float a_trajbell::t

total duration

ta

a_float a_trajbell::ta

acceleration phase

taj

a_float a_trajbell::taj

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

td

a_float a_trajbell::td

deceleration phase

tdj

a_float a_trajbell::tdj

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

tv

a_float a_trajbell::tv

constant velocity phase

v0

a_float a_trajbell::v0

initial velocity

v1

a_float a_trajbell::v1

final velocity

vm

a_float a_trajbell::vm

maximum velocity

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

• trajbell.h