a_trajpoly3 Struct Reference

instance structure for cubic polynomial trajectory More...

#include <trajpoly3.h>

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

Data Fields
a_float	p [4]
a_float	v [3]
a_float	a [2]

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

a

a_float a_trajpoly3::a[2]

coefficients of acceleration

p

a_float a_trajpoly3::p[4]

coefficients of position

v

a_float a_trajpoly3::v[3]

coefficients of velocity

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

• trajpoly3.h