liba 0.1.15
An algorithm library based on C/C++
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trajtrap.h File Reference

trapezoidal velocity trajectory More...

#include "a.h"
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Data Structures

struct  a_trajtrap
 instance structure for trapezoidal velocity trajectory More...
 

Typedefs

typedef struct a_trajtrap a_trajtrap
 
typedef struct a_trajtrap a::trajtrap
 

Functions

double a_trajtrap_gen (a_trajtrap *ctx, double vm, double ac, double de, double p0, double p1, double v0, double v1)
 generate for trapezoidal velocity trajectory
 
double a_trajtrap_pos (a_trajtrap const *ctx, double x)
 calculate position for trapezoidal velocity trajectory
 
double a_trajtrap_vel (a_trajtrap const *ctx, double x)
 calculate velocity for trapezoidal velocity trajectory
 
double a_trajtrap_acc (a_trajtrap const *ctx, double x)
 calculate acceleration for trapezoidal velocity trajectory
 

Detailed Description

trapezoidal velocity trajectory

Trajectory Planning for Automatic Machines and Robots