Class a.trajpoly7
hepta polynomial trajectory
| a.trajpoly7:new (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]]) |
constructor for hepta polynomial trajectory |
| a.trajpoly7:gen (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]]) |
generate for hepta polynomial trajectory |
| a.trajpoly7:pos (x) |
calculate position for hepta polynomial trajectory |
| a.trajpoly7:vel (x) |
calculate velocity for hepta polynomial trajectory |
| a.trajpoly7:acc (x) |
calculate acceleration for hepta polynomial trajectory |
| a.trajpoly7:jer (x) |
calculate jerk for hepta polynomial trajectory |
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a.trajpoly7
-
hepta polynomial trajectory
Fields:
- p
coefficients of position
- v
coefficients of velocity
- a
coefficients of acceleration
- j
coefficients of jerk
-
a.trajpoly7:new (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]])
-
constructor for hepta 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)
- a0
number
initial acceleration
(optional)
- a1
number
final acceleration
(optional)
- j0
number
initial jerk
(optional)
- j1
number
final jerk
(optional)
Returns:
a.trajpoly7
hepta polynomial trajectory userdata
-
a.trajpoly7:gen (ts, p0, p1[, v0[, v1[, a0[, a1[, j0[, j1]]]]]])
-
generate for hepta 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)
- a0
number
initial acceleration
(optional)
- a1
number
final acceleration
(optional)
- j0
number
initial jerk
(optional)
- j1
number
final jerk
(optional)
Returns:
a.trajpoly7
hepta polynomial trajectory userdata
-
a.trajpoly7:pos (x)
-
calculate position for hepta polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
position output
-
a.trajpoly7:vel (x)
-
calculate velocity for hepta polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
velocity output
-
a.trajpoly7:acc (x)
-
calculate acceleration for hepta polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
acceleration output
-
a.trajpoly7:jer (x)
-
calculate jerk for hepta polynomial trajectory
Parameters:
- x
number
difference between current time and initial time
Returns:
number
jerk output