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:

trajtrap.h

Public Member Functions

Data Fields