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

#include <trajbell.h>

Public Member Functions
double	gen (double jm_, double am_, double vm_, double p0_, double p1_, double v0_=0, double v1_=0)

double	pos (double x) const

double	vel (double x) const

double	acc (double x) const

double	jer (double x) const

Data Fields
double	t
	total duration

double	tv
	constant velocity phase

double	ta
	acceleration phase

double	td
	deceleration phase

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

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

double	p0
	initial position

double	p1
	final position

double	v0
	initial velocity

double	v1
	final velocity

double	vm
	maximum velocity

double	jm
	maximum jerk

double	am
	maximum acceleration

double	dm
	maximum deceleration

Detailed Description

instance structure for bell-shaped velocity trajectory

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

Public Member Functions