a_trajpoly3 Struct Reference

instance structure for cubic polynomial trajectory More...

#include <trajpoly3.h>

Public Member Functions
void	gen (a_real ts, 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
void	c0 (a_real x[4]) const
void	c1 (a_real x[3]) const
void	c2 (a_real x[2]) const

Data Fields
a_real	c [4]

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}

Field Documentation

c

a_real a_trajpoly3::c[4]

coefficients of position

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

• trajpoly3.h