liba 0.1.15
An algorithm library based on C/C++
 
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instance structure for trapezoidal velocity trajectory More...

#include <trajtrap.h>

Public Member Functions

a_real gen (a_real vm, a_real ac_, a_real de_, 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
 

Data Fields

a_real t
 
a_real p0
 
a_real p1
 
a_real v0
 
a_real v1
 
a_real vc
 
a_real ta
 
a_real td
 
a_real pa
 
a_real pd
 
a_real ac
 
a_real de
 

Detailed Description

instance structure for trapezoidal velocity trajectory

Field Documentation

◆ ac

a_real a_trajtrap::ac

acceleration before constant velocity

◆ de

a_real a_trajtrap::de

acceleration after constant velocity

◆ p0

a_real a_trajtrap::p0

initial position

◆ p1

a_real a_trajtrap::p1

final position

◆ pa

a_real a_trajtrap::pa

position before constant velocity

◆ pd

a_real a_trajtrap::pd

position after constant velocity

◆ t

a_real a_trajtrap::t

total duration

◆ ta

a_real a_trajtrap::ta

time before constant velocity

◆ td

a_real a_trajtrap::td

time after constant velocity

◆ v0

a_real a_trajtrap::v0

initial velocity

◆ v1

a_real a_trajtrap::v1

final velocity

◆ vc

a_real a_trajtrap::vc

constant velocity


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