a_trajpoly7 Struct Reference

instance structure for hepta polynomial trajectory More...

#include <trajpoly7.h>

Public Member Functions
void	gen (a_real ts, a_real p0, a_real p1, a_real v0=0, a_real v1=0, a_real a0=0, a_real a1=0, a_real j0=0, a_real j1=0)
a_real	pos (a_real x) const
a_real	vel (a_real x) const
a_real	acc (a_real x) const
a_real	jer (a_real x) const
void	c0 (a_real x[8]) const
void	c1 (a_real x[7]) const
void	c2 (a_real x[6]) const
void	c3 (a_real x[5]) const

Data Fields
a_real	c [8]

Detailed Description

instance structure for hepta polynomial trajectory

\begin{aligned} \begin{array}{l} p(t)=c_{0}+c_{1}\left(t-t_{0}\right)+c_{2}\left(t-t_{0}\right)^{2}+c_{3}\left(t-t_{0}\right)^{3}+c_{4}\left(t-t_{0}\right)^{4}+c_{5}\left(t-t_{0}\right)^{5}+c_{6}\left(t-t_{0}\right)^{6}+c_{7}\left(t-t_{0}\right)^{7}\\ \dot{p}(t)=c_{1}+2 c_{2}\left(t-t_{0}\right)+3 c_{3}\left(t-t_{0}\right)^{2}+4 c_{4}\left(t-t_{0}\right)^{3}+5 c_{5}\left(t-t_{0}\right)^{4}+6 c_{6}\left(t-t_{0}\right)^{5}+7 c_{7}\left(t-t_{0}\right)^{6}\\ \ddot{p}(t)=2 c_{2}+6 c_{3}\left(t-t_{0}\right)+12 c_{4}\left(t-t_{0}\right)^{2}+20 c_{5}\left(t-t_{0}\right)^{3}+30 c_{6}\left(t-t_{0}\right)^{4}+42 c_{7}\left(t-t_{0}\right)^{5}\\ p^{(3)}(t)=6 c_{3}+24 c_{4}\left(t-t_{0}\right)+60 c_{5}\left(t-t_{0}\right)^{2}+120 c_{6}\left(t-t_{0}\right)^{3}+210 c_{7}\left(t-t_{0}\right)^{4} \end{array} \end{aligned}

Field Documentation

c

a_real a_trajpoly7::c[8]

coefficients of position

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

• trajpoly7.h