trajpoly5.h

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#ifndef LIBA_TRAJPOLY5_H
#define LIBA_TRAJPOLY5_H
 
#include "a.h"

 
typedef struct a_trajpoly5 a_trajpoly5;
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */

A_EXTERN void a_trajpoly5_gen(a_trajpoly5 *ctx, a_real ts,
                              a_real p0, a_real p1,
                              a_real v0, a_real v1,
                              a_real a0, a_real a1);

A_EXTERN void a_trajpoly5_c0(a_trajpoly5 const *ctx, a_real c[6]);

A_EXTERN void a_trajpoly5_c1(a_trajpoly5 const *ctx, a_real c[5]);

A_EXTERN void a_trajpoly5_c2(a_trajpoly5 const *ctx, a_real c[4]);

A_EXTERN a_real a_trajpoly5_pos(a_trajpoly5 const *ctx, a_real x);

A_EXTERN a_real a_trajpoly5_vel(a_trajpoly5 const *ctx, a_real x);

A_EXTERN a_real a_trajpoly5_acc(a_trajpoly5 const *ctx, a_real x);
 
#if defined(__cplusplus)
} /* extern "C" */
namespace a
{
typedef struct a_trajpoly5 trajpoly5;
} /* namespace a */
#endif /* __cplusplus */

struct a_trajpoly5
{
    a_real c[6]; 
#if defined(__cplusplus)
    A_INLINE 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_trajpoly5_gen(this, ts, p0, p1, v0, v1, a0, a1);
    }
    A_INLINE a_real pos(a_real x) const
    {
        return a_trajpoly5_pos(this, x);
    }
    A_INLINE a_real vel(a_real x) const
    {
        return a_trajpoly5_vel(this, x);
    }
    A_INLINE a_real acc(a_real x) const
    {
        return a_trajpoly5_acc(this, x);
    }
    A_INLINE void c0(a_real x[6]) const
    {
        a_trajpoly5_c0(this, x);
    }
    A_INLINE void c1(a_real x[5]) const
    {
        a_trajpoly5_c1(this, x);
    }
    A_INLINE void c2(a_real x[4]) const
    {
        a_trajpoly5_c2(this, x);
    }
#endif /* __cplusplus */
};

 
#endif /* a/trajpoly5.h */