Class a.trajpoly3
cubic polynomial trajectory
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a.trajpoly3
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cubic polynomial trajectory
Fields:
- p
coefficients of position
- v
coefficients of velocity
- a
coefficients of acceleration
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a.trajpoly3:new (ts, p0, p1[, v0[, v1]])
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constructor for cubic polynomial trajectory
Parameters:
- ts
number
difference between final time and initial time
- p0
number
initial position
- p1
number
final position
- v0
number
initial velocity
(optional)
- v1
number
final velocity
(optional)
Returns:
a.trajpoly3
cubic polynomial trajectory userdata
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a.trajpoly3:gen (ts, p0, p1[, v0[, v1]])
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generate for cubic polynomial trajectory
Parameters:
- ts
number
difference between final time and initial time
- p0
number
initial position
- p1
number
final position
- v0
number
initial velocity
(optional)
- v1
number
final velocity
(optional)
Returns:
a.trajpoly3
cubic polynomial trajectory userdata
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a.trajpoly3:pos (x)
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calculate position for cubic polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
position output
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a.trajpoly3:vel (x)
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calculate velocity for cubic polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
velocity output
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a.trajpoly3:acc (x)
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calculate acceleration for cubic polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
acceleration output