Class a.trajbell
bell-shaped velocity trajectory
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a.trajbell
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bell-shaped velocity trajectory
Fields:
- t
total duration
- tv
constant velocity phase
- ta
acceleration phase
- td
deceleration phase
- taj
time-interval in which the jerk is constant (j max or j min ) during the acceleration phase
- tdj
time-interval in which the jerk is constant (j max or j min ) during the deceleration phase
- p0
initial position
- p1
final position
- v0
initial velocity
- v1
final velocity
- vm
maximum velocity
- jm
maximum jerk
- am
maximum acceleration
- dm
maximum deceleration
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a.trajbell:new ()
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constructor for bell-shaped velocity trajectory
Returns:
a.trajbell
bell-shaped velocity trajectory userdata
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a.trajbell:gen (jm, am, vm, p0, p1[, v0[, v1]])
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generate for bell-shaped velocity trajectory
Parameters:
- jm
number
defines the maximum jerk during system operation
- am
number
defines the maximum acceleration during system operation
- vm
number
defines the maximum velocity during system operation
- p0
number
defines the initial position
- p1
number
defines the final position
- v0
number
defines the initial velocity
(optional)
- v1
number
defines the final velocity
(optional)
Returns:
number
total duration
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a.trajbell:pos (x)
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calculate position for bell-shaped velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
position output
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a.trajbell:vel (x)
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calculate velocity for bell-shaped velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
velocity output
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a.trajbell:acc (x)
-
calculate acceleration for bell-shaped velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
acceleration output
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a.trajbell:jer (x)
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calculate jerk for bell-shaped velocity trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
jerk output