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

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

Field Documentation

◆ c

a_real a_trajpoly7::c[8]

coefficients of position

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

trajpoly7.h

Public Member Functions

Data Fields

Detailed Description

Field Documentation

◆ c