instance structure for trapezoidal velocity trajectory More...

#include <trajtrap.h>

Public Member Functions
double	gen (double vm, double ac_, double de_, double p0_, double p1_, double v0_=0, double v1_=0)

double	pos (double x) const

double	vel (double x) const

double	acc (double x) const

Data Fields
double	t
	total duration

double	p0
	initial position

double	p1
	final position

double	v0
	initial velocity

double	v1
	final velocity

double	vc
	constant velocity

double	ta
	time before constant velocity

double	td
	time after constant velocity

double	pa
	position before constant velocity

double	pd
	position after constant velocity

double	ac
	acceleration before constant velocity

double	de
	acceleration after constant velocity

Detailed Description

instance structure for trapezoidal velocity trajectory

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

Public Member Functions