7#ifndef LIBA_TRAJPOLY7_H
8#define LIBA_TRAJPOLY7_H
20#if !defined A_TRAJPOLY7
23#if defined(__cplusplus)
64#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 1)
67#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 2)
70#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 3)
87#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 1)
102#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 2)
117#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 3)
132#if defined(__cplusplus)
154#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 1)
157#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 2)
160#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 3)
163#if defined(__cplusplus)
176 a_trajpoly7_gen0(
this, ts, p0, p1, v0, v1, a0, a1, j0, j1);
182#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 1)
183 A_INLINE
void gen1() { a_trajpoly7_gen1(
this); }
189#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 2)
190 A_INLINE
void gen2() { a_trajpoly7_gen2(
this); }
196#if defined(A_TRAJPOLY7) && (A_TRAJPOLY7 + 0 > 3)
197 A_INLINE
void gen3() { a_trajpoly7_gen3(
this); }
#define a_float
Definition a.h:785
double a_trajpoly7_vel(a_trajpoly7 const *ctx, double x)
calculate velocity for hepta polynomial trajectory
double a_trajpoly7_acc(a_trajpoly7 const *ctx, double x)
calculate acceleration for hepta polynomial trajectory
void a_trajpoly7_gen(a_trajpoly7 *ctx, double ts, double p0, double p1, double v0, double v1, double a0, double a1, double j0, double j1)
generate for hepta polynomial trajectory
double a_trajpoly7_pos(a_trajpoly7 const *ctx, double x)
calculate position for hepta polynomial trajectory
double a_trajpoly7_jer(a_trajpoly7 const *ctx, double x)
calculate jerk for hepta polynomial trajectory
instance structure for hepta polynomial trajectory
Definition trajpoly7.h:152
double a[6]
coefficients of acceleration
Definition trajpoly7.h:158
double p[8]
coefficients of position
Definition trajpoly7.h:153
double v[7]
coefficients of velocity
Definition trajpoly7.h:155
double j[5]
coefficients of jerk
Definition trajpoly7.h:161