instance structure for hepta polynomial trajectory More...

#include <trajpoly7.h>

Public Member Functions
void	gen (double ts, double p0, double p1, double v0=0, double v1=0, double a0=0, double a1=0, double j0=0, double j1=0)

void	gen0 (double ts, double p0, double p1, double v0=0, double v1=0, double a0=0, double a1=0, double j0=0, double j1=0)

double	pos (double x) const

void	gen1 ()

double	vel (double x) const

void	gen2 ()

double	acc (double x) const

void	gen3 ()

double	jer (double x) const

Data Fields
double	p [8]
	coefficients of position

double	v [7]
	coefficients of velocity

double	a [6]
	coefficients of acceleration

double	j [5]
	coefficients of jerk

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}

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

trajpoly7.h

Public Member Functions

Data Fields

Detailed Description