liba 0.1.15
An algorithm library based on C/C++
 
All Data Structures Files Functions Variables Typedefs Enumerations Enumerator Modules Pages
Loading...
Searching...
No Matches
trajbell.h
Go to the documentation of this file.
1
6
7#ifndef LIBA_TRAJBELL_H
8#define LIBA_TRAJBELL_H
9
10#include "a.h"
11
17
18typedef struct a_trajbell a_trajbell;
19
20#if defined(__cplusplus)
21extern "C" {
22#endif /* __cplusplus */
23
61
80A_EXTERN a_real a_trajbell_pos(a_trajbell const *ctx, a_real x);
81
99A_EXTERN a_real a_trajbell_vel(a_trajbell const *ctx, a_real x);
100
118A_EXTERN a_real a_trajbell_acc(a_trajbell const *ctx, a_real x);
119
137A_EXTERN a_real a_trajbell_jer(a_trajbell const *ctx, a_real x);
138
139#if defined(__cplusplus)
140} /* extern "C" */
141namespace a
142{
143typedef struct a_trajbell trajbell;
144} /* namespace a */
145#endif /* __cplusplus */
146
151{
166#if defined(__cplusplus)
167 A_INLINE a_real gen(a_real jm_, a_real am_, a_real vm_, a_real p0_, a_real p1_,
168 a_real v0_ = 0, a_real v1_ = 0)
169 {
170 return a_trajbell_gen(this, jm_, am_, vm_, p0_, p1_, v0_, v1_);
171 }
172 A_INLINE a_real pos(a_real x) const
173 {
174 return a_trajbell_pos(this, x);
175 }
176 A_INLINE a_real vel(a_real x) const
177 {
178 return a_trajbell_vel(this, x);
179 }
180 A_INLINE a_real acc(a_real x) const
181 {
182 return a_trajbell_acc(this, x);
183 }
184 A_INLINE a_real jer(a_real x) const
185 {
186 return a_trajbell_jer(this, x);
187 }
188#endif /* __cplusplus */
189};
190
192
193#endif /* a/trajbell.h */
algorithm library
double a_real
compiler built-in floating-point number type
Definition a.h:1006
a_real a_trajbell_gen(a_trajbell *ctx, a_real jm, a_real am, a_real vm, a_real p0, a_real p1, a_real v0, a_real v1)
generate for bell-shaped velocity trajectory
a_real a_trajbell_jer(a_trajbell const *ctx, a_real x)
compute jerk for bell-shaped velocity trajectory
a_real a_trajbell_vel(a_trajbell const *ctx, a_real x)
compute velocity for bell-shaped velocity trajectory
a_real a_trajbell_acc(a_trajbell const *ctx, a_real x)
compute acceleration for bell-shaped velocity trajectory
a_real a_trajbell_pos(a_trajbell const *ctx, a_real x)
compute position for bell-shaped velocity trajectory
instance structure for bell-shaped velocity trajectory
Definition trajbell.h:151
a_real p1
Definition trajbell.h:159
a_real tdj
Definition trajbell.h:157
a_real am
Definition trajbell.h:164
a_real p0
Definition trajbell.h:158
a_real v1
Definition trajbell.h:161
a_real dm
Definition trajbell.h:165
a_real vm
Definition trajbell.h:162
a_real v0
Definition trajbell.h:160
a_real taj
Definition trajbell.h:156
a_real ta
Definition trajbell.h:154
a_real t
Definition trajbell.h:152
a_real jm
Definition trajbell.h:163
a_real td
Definition trajbell.h:155
a_real tv
Definition trajbell.h:153