trajbell.h

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#ifndef LIBA_TRAJBELL_H
#define LIBA_TRAJBELL_H
 
#include "a.h"

 
typedef struct a_trajbell a_trajbell;
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */

A_EXTERN 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);

A_EXTERN a_real a_trajbell_pos(a_trajbell const *ctx, a_real x);

A_EXTERN a_real a_trajbell_vel(a_trajbell const *ctx, a_real x);

A_EXTERN a_real a_trajbell_acc(a_trajbell const *ctx, a_real x);

A_EXTERN a_real a_trajbell_jer(a_trajbell const *ctx, a_real x);
 
#if defined(__cplusplus)
} /* extern "C" */
namespace a
{
typedef struct a_trajbell trajbell;
} /* namespace a */
#endif /* __cplusplus */

struct a_trajbell
{
    a_real t; 
    a_real tv; 
    a_real ta; 
    a_real td; 
    a_real taj; 
    a_real tdj; 
    a_real p0; 
    a_real p1; 
    a_real v0; 
    a_real v1; 
    a_real vm; 
    a_real jm; 
    a_real am; 
    a_real dm; 
#if defined(__cplusplus)
    A_INLINE a_real gen(a_real jm_, a_real am_, a_real vm_, a_real p0_, a_real p1_,
                        a_real v0_ = 0, a_real v1_ = 0)
    {
        return a_trajbell_gen(this, jm_, am_, vm_, p0_, p1_, v0_, v1_);
    }
    A_INLINE a_real pos(a_real x) const
    {
        return a_trajbell_pos(this, x);
    }
    A_INLINE a_real vel(a_real x) const
    {
        return a_trajbell_vel(this, x);
    }
    A_INLINE a_real acc(a_real x) const
    {
        return a_trajbell_acc(this, x);
    }
    A_INLINE a_real jer(a_real x) const
    {
        return a_trajbell_jer(this, x);
    }
#endif /* __cplusplus */
};

 
#endif /* a/trajbell.h */