instance structure for hepta polynomial trajectory More...

#include <trajpoly7.h>

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

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

a_float	pos (a_float x) const

void	gen1 ()

a_float	vel (a_float x) const

void	gen2 ()

a_float	acc (a_float x) const

void	gen3 ()

a_float	jer (a_float x) const

Data Fields
a_float	p [8]

a_float	v [7]

a_float	a [6]

a_float	j [5]

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}