7#ifndef LIBA_TRAJPOLY5_H
8#define LIBA_TRAJPOLY5_H
20#if !defined A_TRAJPOLY5
23#if defined(__cplusplus)
58#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 1)
61#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 2)
78#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 1)
93#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 2)
108#if defined(__cplusplus)
129#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 1)
132#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 2)
135#if defined(__cplusplus)
146 a_trajpoly5_gen0(
this, ts, p0, p1, v0, v1, a0, a1);
152#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 1)
153 A_INLINE
void gen1() { a_trajpoly5_gen1(
this); }
159#if defined(A_TRAJPOLY5) && (A_TRAJPOLY5 + 0 > 2)
160 A_INLINE
void gen2() { a_trajpoly5_gen2(
this); }
#define a_float
Definition a.h:785
void a_trajpoly5_gen(a_trajpoly5 *ctx, double ts, double p0, double p1, double v0, double v1, double a0, double a1)
generate for quintic polynomial trajectory
double a_trajpoly5_acc(a_trajpoly5 const *ctx, double x)
calculate acceleration for quintic polynomial trajectory
double a_trajpoly5_vel(a_trajpoly5 const *ctx, double x)
calculate velocity for quintic polynomial trajectory
double a_trajpoly5_pos(a_trajpoly5 const *ctx, double x)
calculate position for quintic polynomial trajectory
instance structure for quintic polynomial trajectory
Definition trajpoly5.h:127
double a[4]
coefficients of acceleration
Definition trajpoly5.h:133
double v[5]
coefficients of velocity
Definition trajpoly5.h:130
double p[6]
coefficients of position
Definition trajpoly5.h:128