hepta polynomial trajectory

Collaboration diagram for hepta polynomial trajectory:

Data Structures
struct	a_trajpoly7
	instance structure for hepta polynomial trajectory More...

Typedefs
typedef struct a_trajpoly7	a_trajpoly7

Functions
void	a_trajpoly7_gen (a_trajpoly7 *ctx, a_real ts, a_real p0, a_real p1, a_real v0, a_real v1, a_real a0, a_real a1, a_real j0, a_real j1)
	generate for hepta polynomial trajectory
void	a_trajpoly7_c0 (a_trajpoly7 const *ctx, a_real c[8])
	compute coefficients of position for hepta polynomial trajectory
void	a_trajpoly7_c1 (a_trajpoly7 const *ctx, a_real c[7])
	compute coefficients of velocity for hepta polynomial trajectory
void	a_trajpoly7_c2 (a_trajpoly7 const *ctx, a_real c[6])
	compute coefficients of acceleration for hepta polynomial trajectory
void	a_trajpoly7_c3 (a_trajpoly7 const *ctx, a_real c[5])
	compute coefficients of jerk for hepta polynomial trajectory
a_real	a_trajpoly7_pos (a_trajpoly7 const *ctx, a_real x)
	compute position for hepta polynomial trajectory
a_real	a_trajpoly7_vel (a_trajpoly7 const *ctx, a_real x)
	compute velocity for hepta polynomial trajectory
a_real	a_trajpoly7_acc (a_trajpoly7 const *ctx, a_real x)
	compute acceleration for hepta polynomial trajectory
a_real	a_trajpoly7_jer (a_trajpoly7 const *ctx, a_real x)
	compute jerk for hepta polynomial trajectory

Detailed Description

Function Documentation

a_trajpoly7_acc()

a_real a_trajpoly7_acc	(	a_trajpoly7 const *	ctx,
		a_real	x )

compute acceleration for hepta polynomial trajectory

$$\begin{array}{r}\begin{array}{l}\ddot{p}(t)=2c_2+6c_3(t-t_0)+12c_4{(t-t_0)}^2+20c_5{(t-t_0)}^3+30c_6{(t-t_0)}^4+42c_7{(t-t_0)}^5\end{array}\end{array}$$

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[in]	x	difference between current time and initial time

Returns

acceleration output

a_trajpoly7_c0()

void a_trajpoly7_c0	(	a_trajpoly7 const *	ctx,
		a_real	c[8] )

compute coefficients of position for hepta polynomial trajectory

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[out]	c	coefficients of position

a_trajpoly7_c1()

void a_trajpoly7_c1	(	a_trajpoly7 const *	ctx,
		a_real	c[7] )

compute coefficients of velocity for hepta polynomial trajectory

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[out]	c	coefficients of velocity

a_trajpoly7_c2()

void a_trajpoly7_c2	(	a_trajpoly7 const *	ctx,
		a_real	c[6] )

compute coefficients of acceleration for hepta polynomial trajectory

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[out]	c	coefficients of acceleration

a_trajpoly7_c3()

void a_trajpoly7_c3	(	a_trajpoly7 const *	ctx,
		a_real	c[5] )

compute coefficients of jerk for hepta polynomial trajectory

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[out]	c	coefficients of jerk

a_trajpoly7_gen()

void a_trajpoly7_gen	(	a_trajpoly7 *	ctx,
		a_real	ts,
		a_real	p0,
		a_real	p1,
		a_real	v0,
		a_real	v1,
		a_real	a0,
		a_real	a1,
		a_real	j0,
		a_real	j1 )

generate for hepta polynomial trajectory

$$\begin{array}{r}\{\begin{array}{l}t=t_1-t_0\\ p=p_1-p_0\\ c_0=p_0\\ c_1=v_0\\ c_2=\frac{a_0}{2}\\ c_3=\frac{j_0}{6}\\ c_4=\frac{(-4j_0-j_1)t^3+(15a_1-30a_0)t^2+(-120v_0-90v_1)t+210p}{6t^4}\\ c_5=\frac{(2j_0+j_1)t^3+(20a_0-14a_1)t^2+(90v_0+78v_1)t-168p}{2t^5}\\ c_6=\frac{(-4j_0-3j_1)t^3+(39a_1-45a_0)t^2+(-216v_0-204v_1)t+420p}{6t^6}\\ c_7=\frac{(j_0+j_1)t^3+(12a_0-12a_1)t^2+(60v_0+60v_1)t-120p}{6t^7}\end{array}\end{array}$$

Parameters

[in,out]	ctx	points to an instance of hepta polynomial trajectory
[in]	ts	difference between final time and initial time
[in]	p0	initial position
[in]	p1	final position
[in]	v0	initial velocity
[in]	v1	final velocity
[in]	a0	initial acceleration
[in]	a1	final acceleration
[in]	j0	initial jerk
[in]	j1	final jerk

a_trajpoly7_jer()

a_real a_trajpoly7_jer	(	a_trajpoly7 const *	ctx,
		a_real	x )

compute jerk for hepta polynomial trajectory

$$\begin{array}{r}\begin{array}{l}{p}^{(3)}(t)=6c_3+24c_4(t-t_0)+60c_5{(t-t_0)}^2+120c_6{(t-t_0)}^3+210c_7{(t-t_0)}^4\end{array}\end{array}$$

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[in]	x	difference between current time and initial time

Returns

jerk output

a_trajpoly7_pos()

a_real a_trajpoly7_pos	(	a_trajpoly7 const *	ctx,
		a_real	x )

compute position for hepta polynomial trajectory

$$\begin{array}{r}\begin{array}{l}p(t)=c_0+c_1(t-t_0)+c_2{(t-t_0)}^2+c_3{(t-t_0)}^3+c_4{(t-t_0)}^4+c_5{(t-t_0)}^5+c_6{(t-t_0)}^6+c_7{(t-t_0)}^7\end{array}\end{array}$$

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[in]	x	difference between current time and initial time

Returns

position output

a_trajpoly7_vel()

a_real a_trajpoly7_vel	(	a_trajpoly7 const *	ctx,
		a_real	x )

compute velocity for hepta polynomial trajectory

$$\begin{array}{r}\begin{array}{l}\dot{p}(t)=c_1+2c_2(t-t_0)+3c_3{(t-t_0)}^2+4c_4{(t-t_0)}^3+5c_5{(t-t_0)}^4+6c_6{(t-t_0)}^5+7c_7{(t-t_0)}^6\end{array}\end{array}$$

Parameters

[in]	ctx	points to an instance of hepta polynomial trajectory
[in]	x	difference between current time and initial time

Returns

velocity output