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 |
instance structure for trapezoidal velocity trajectory
a_real a_trajtrap::ac |
acceleration before constant velocity
a_real a_trajtrap::de |
acceleration after constant velocity
a_real a_trajtrap::p0 |
initial position
a_real a_trajtrap::p1 |
final position
a_real a_trajtrap::pa |
position before constant velocity
a_real a_trajtrap::pd |
position after constant velocity
a_real a_trajtrap::t |
total duration
a_real a_trajtrap::ta |
time before constant velocity
a_real a_trajtrap::td |
time after constant velocity
a_real a_trajtrap::v0 |
initial velocity
a_real a_trajtrap::v1 |
final velocity
a_real a_trajtrap::vc |
constant velocity