a_trajpoly3 Struct Reference

instance structure for cubic polynomial trajectory More...

#include <trajpoly3.h>

Public Member Functions
void	gen (double ts, double p0, double p1, double v0=0, double v1=0)
void	gen0 (double ts, double p0, double p1, double v0=0, double v1=0)
double	pos (double x) const
void	gen1 ()
double	vel (double x) const
void	gen2 ()
double	acc (double x) const

Data Fields
double	p [4]
	coefficients of position
double	v [3]
	coefficients of velocity
double	a [2]
	coefficients of acceleration

Detailed Description

instance structure for cubic polynomial trajectory

\begin{aligned} \begin{array}{l} p(t)=c_{0}+c_{1}\left(t-t_{0}\right)+c_{2}\left(t-t_{0}\right)^{2}+c_{3}\left(t-t_{0}\right)^{3} \\ \dot{p}(t)=c_{1}+2 c_{2}\left(t-t_{0}\right)+3 c_{3}\left(t-t_{0}\right)^{2} \\ \ddot{p}(t)=2 c_{2}+6 c_{3}\left(t-t_{0}\right) \end{array} \end{aligned}

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

• trajpoly3.h